Title :
State Control of Servo Drives with Flexible Structural Components
Author :
Zirn, Oliver ; Batzies, Ekkehard ; Weikert, Sascha ; Scholler, Tobias
Author_Institution :
Univ. of Appl. Sci., Giessen
Abstract :
This paper is concerned with the state control of servo axes for robots and machine tools. Special consideration is given to the additional damping of elastic structural components. Their effect on the feedback-controlled system is described by a simplified but suitable dynamic model that allows the state observation as well as online parameter identification for all relevant cases of structural flexibility. This leads to an extension of standard servo drives by a robust state space controller. The practical benefit of this method and its implementation on standard control hardware is illustrated for a newly developed machine tool axis
Keywords :
controllers; feedback; machine control; motor drives; servomotors; state estimation; dynamic model; elastic structural component damping; feedback-controlled system; flexible structural components; machine tools; online parameter identification; robot servo axis; servo drives; state control; state observation; state space controller; Automatic control; Control systems; Damping; Feeds; Hardware; Machine tools; Manufacturing; Robot kinematics; Servomechanisms; Velocity control;
Conference_Titel :
Industry Applications Conference, 2006. 41st IAS Annual Meeting. Conference Record of the 2006 IEEE
Conference_Location :
Tampa, FL
Print_ISBN :
1-4244-0364-2
Electronic_ISBN :
0197-2618
DOI :
10.1109/IAS.2006.256773
