High precision motion control, that is, to produce the fastest and smoothest time trajectory as far as the mechanical structure allows.
How do you do that?
Determine the algorithm under system constraints Meanwhile, the complexity of the algorithm is also restricted by the real-time performance of the system and the speed of the computer Usually, in addition to the ideal time trajectory, compensation control should be added to achieve the speed and stability of the motion.
The key technologies involved are usually motion control, servo control, mechanical structure design and material selection, as well as system protection and many other aspects.
1. motion control
First of all, the motion control system needs to generate space trajectory relative to time, and directly realize the synchronization control between the various mechanical modules.
For example: Electronic gear change (stepless change) All kinds of plane curves, circles, ellipses, y(t) = f(x(t)). Various space curves, z(t) = f(x(t), y(t))
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The main technical issues to consider are: Types of motion trajectories that can be generated (straight line, circle, arc, arbitrary curve) Order of trajectory relative to time Maximum velocity, maximum acceleration Position, velocity accuracy The number of motion axes can be controlled simultaneously (4 axes,8 axes,......). Synchronization between axes of motion The number of servo axes Servo control
2. servo control
Motion control is how to generate motion control instructions (algorithms), while servo control is how to make electromechanical systems quickly and accurately track motion control instructions, For example: System experiment and system identification Vibration analysis and vibration suppression techniques Robust control technology Adaptive control Self-learning and self-adjustment Fuzzy training ...
The main technical problems to be solved Operating voltage Output current Work efficiency Servo control algorithm Closed-loop response bandwidth Dynamic/static accuracy Control stiffness Steady state time
resolution Sampling time/control frequency Various protection functions Overvoltage protection/undervoltage alarm, short circuit protection, maximum current duration, continuous /RMS current protection, over temperature protection, stop protection, out of control protection (current backfilling protection)
3. actuator The actuator of the motion system consists of a motor and a mechanical structure to complete the movement. The main purpose of the design of the actuator is to improve the rigidity of the system and suppress the low frequency resonance of the system.
For example: Actuator/motor design Motion connection and power transmission Dynamic analysis and simulation Structural and vibration analysis
... The main technical problems to be solved System stiffness System resonance frequency The carrying capacity of the system Maximum operating speed and acceleration of the system