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

Volume

4

fYear

2006

fDate

8-12 Oct. 2006

Firstpage

1760

Lastpage

1766

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Industry Applications Conference, 2006. 41st IAS Annual Meeting. Conference Record of the 2006 IEEE

Conference_Location

Tampa, FL

ISSN

0197-2618

Print_ISBN

1-4244-0364-2

Electronic_ISBN

0197-2618

Type

conf

DOI

10.1109/IAS.2006.256773

Filename

4025461