tailieunhanh - Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 4

Tham khảo tài liệu 'mechatronic servo system control - m. nakamura s. goto and n. kyura part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 36 2 Mathematical Model Construction of a Mechatronic Servo System required allowable error. When constructing the model in order to obtain the simple model with satisfying the required precision the model should be the low speed 1st order model for the low speed operation. Additionally in the middle speed operation from 1 20 to 1 5 of rated speed the evaluation error of the low speed 1st order model is bigger than the required allowance error and smaller than that in the middle speed 2nd order model. In the high-speed motion over 1 5 of rated speed of the motor the evaluation error between the low speed 1st order model and middle speed 2nd order model is bigger than the required allowance error. From these results the adaptable scale and boundary of the reduced order model can be judged. The correct modeling of actual industrial mechatronic servo system by derived reduced order model was verified by experiment. The adopted experimental device for verification is a DEC-1 similar to item refer to experimental device . The low speed of motion velocity is 5 rad s about 1 20 of rated speed and middle speed is 20 rad s about 1 5 of rated speed. Fig. illustrates the modeling error between the output and the reduced order model in the experiment. From the results in Fig. in the low speed operation the modeling error of both the low speed 1st order model and the middle speed 2nd order model is smaller than rad which is almost consistent with the experimental results. In the middle speed operation the error between the low speed 1st order model and experimental results is bigger than the maximal rad . In the middle speed 2nd order model the modeling error is smaller than rad . Therefore the modeling is appropriate. From these experimental results the appropriateness of the reduced order model expressing the dynamic of industrial mechatronic servo system was verified. p o --------Low speed model L- --------Middle speed model 1 1