tailieunhanh - Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 6

Tham khảo tài liệu 'mechatronic servo system control - m. nakamura s. goto and n. kyura part 6', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 66 3 Discrete Time Interval of a Mechatronic Servo System within the general working region the effectiveness of the proposed method can be also verified indirectly in the articulated mechatronic servo system. Relation between Reference Input Time Interval and Transient Velocity Fluctuation 1 Transient Velocity Fluctuation of the Mechatronic Servo System In the industrial field the controller of a mechatronic servo system which can restrain the velocity fluctuation is designed. In the mechatronic servo system which can restrain completely the steady-state velocity fluctuation the hold circuit hr between the reference input generator and position control part uses one-order hold circuit. The reference input time interval AT is set to be equal to the sampling time interval Atp of the position loop refer to . In this part since the transient velocity fluctuation occurred even when restraining the steady-state velocity fluctuation its analysis is carried out as below. As the control strategy the transient velocity fluctuation when AT Atp in 1 is adopted in the restraining the steady-state velocity fluctuation. In the continuous system the mathematical model of the velocity control part motor part and mechanism part is expressed as dv t Kv v t Kv uv t . dt If k is the stage of the reference input time interval AT any moment can be expressed by kAT tp 0 tp AT . The position command value up is up kAT tp vref k 1 AT by the 0th order hold when the objective trajectory r t vreft is sampled by the reference input time interval AT. Therefore the velocity command value uv kAT tp is expressed by uv kAT tp vref k 1 AT p kAT Kp. When equation is put into equation by a inverse Laplace transform refer to appendix the motion velocity v kAT tp is expressed as v kAT tp 1 e-KvT vref k 1 AT p kAT Kp v kAT e-Kvtp 0 tp AT . Therefore the analytical solution can be easily solved. This equation is describing the damping of velocity command