tailieunhanh - Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 13

Tham khảo tài liệu 'mechatronic servo system control - m. nakamura s. goto and n. kyura part 13', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 174 Nomenclature Reduced order model of one axis in a mechatronic servo system Symbols Units Meanings Gci s normalized low speed 1st order model Gc2 s normalized middle speed 2nd order model Kpi 1 s position loop gain of low speed 1st order model Kp2 1 s position loop gain of middle speed 2nd order model Kv2 1 s velocity loop gain of middle speed 2nd order model Cpl 1 s position loop gain of normalized low speed 1st order model Cp2 1 s position loop gain of normalized middle speed 2nd order model Cv2 1 s velocity loop gain of normalized 2nd order model Linear model of the working coordinates of an articulated robot arm Symbols Units Meanings 01 rad Angle of 1st axis 02 rad angle of 2nd axis Px m position of X axis Py m position of Y axis li m length of 1st axis ll m length of 2nd axis AT s reference input time interval A t s A t t eKPt - 1 Kp px m position of X axis in working coordinate model py m position of Y axis in working linear model Vi rad s velocity of 1st axis V2 rad s velocity of 2nd axis Vx m s velocity of X axis Vy m s velocity of Y axis f-x. m s error at the X direction of working linear model ey m s error at the Y direction of working linear model V m s objective velocity 3. Discrete time interval of a mechatronic servo system Sampling time interval Symbols Units Meanings G1 s transfer function of 1st order system Gli s transfer function of 1st order system with time delay Gp i s transfer function of 1st order system with time delay Pade approximation fc Hz Sampling frequency Li s sum of required time from state sample of position loop to control input calculation and delay time in 0th order hold of control input fcP Hz cut-off frequency of transfer function of 1st order system with time delay Pade approximation fci Hz cut-off frequency of transfer function of 1st order system Atp s sampling time interval qi qi qLi Atp fs Hz fs 1 Atp Nomenclature 175 Relation between reference input time interval and velocity fluctuation Symbols Units