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Transcript of Motion Control Systems-Purdue Univ
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MECHATRONICS
ENGINEERING
TECHNOLOGY
Motion Control Systems
Velocity
Amplifier
Power
Amplifier
M
TECHOMETER/
ENCODER
Velocity Command
Current Feedback
Motor
Current Command
Velocity PositionFeedback
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MECHATRONICS
ENGINEERING
TECHNOLOGY
Elements of Motion Control
Systems
HOST
COMPUTER/SOFTWARE
TOOLS
MOTIONCONTROLLER
AMPLIFIER MOTOR
POSITION
SENSOR
ENCODER
V I
POSITIONPOSITION FEEDBACK
POSITION COMMAND
Theta
C
Closed-loop System
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MECHATRONICS
ENGINEERING
TECHNOLOGY
Functional Elements
COMMUNICATION
CONTROLLER
MOTION PROFILE PID Controller DAC
M
MOTOR
E
POSITION
DECODER
FROM HOST COMPUTER
R E
C
SENSOR
AMP
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MECHATRONICS
ENGINEERING
TECHNOLOGY
Controller Tasks
Generating Reference position R
Following the generated Position
Communicates with Host Computer toreceive commands via various bus types:
RS232, SERCOS etc.
These two tasks are
performed
independently
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MECHATRONICS
ENGINEERING
TECHNOLOGY
R(t)-Response Position Profile
VelocityProfile
MotionController
PositionProfile
100,000
7500
2500
Time (ms)
Position
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MECHATRONICS
ENGINEERING
TECHNOLOGY
COMMUNICATION
CONTROLLER
MOTION PROFILE PID Controller DAC
M
MOTOR
E
POSITION
DECODER
FROM HOST COMPUTER
R E
C
SENSOR
AMP
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Next major task is tofollow reference
function
The decoded position signal C
is compared with the reference
signal R. The Position Error E,
to a minimum without causing
oscillation
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MECHATRONICS
ENGINEERING
TECHNOLOGY
Elements of an Amplifier
(Position/Velocity) Mode
Velocity
Amplifier
Power
Amplifier
M
TECHOMETER/
ENCODER
Velocity Command
Current Feedback
Motor
Current Command
Velocity Position
Feedback
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MECHATRONICS
ENGINEERING
TECHNOLOGY
Current Mode
Amplifier produces current that is directly
proportional to the input voltage.
This is achieved by current feedback loop
which monitors current and assumes that it
is proportional to the command signal.
Current amplifiers are characterized by the
current gain, Kawhich indicates the
amplifier output current for 1 V of the
command signal.
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MECHATRONICS
ENGINEERING
TECHNOLOGY
Velocity Mode
Amplifier includes a voltage amplification
stage which compares the applied voltage
with the motor velocity and amplifies the
difference before it is applied to the current
loop.
