Commissioning of P/PI-cascade controlled servo axes with flexible load can be quite time consuming, if the step response based setup procedures are applied for the velocity controller as indicated by the automation sy...Commissioning of P/PI-cascade controlled servo axes with flexible load can be quite time consuming, if the step response based setup procedures are applied for the velocity controller as indicated by the automation systems manufacturers. Based on the drive frequency response, suitable rules of thumb with optimum velocity control damping performance are derived in this contribution that turned out to be very efficient in several dozen machine tool servo axis applications of different industrial partners in Switzerland and southern Germany. Anyway, single feedback loop velocity control sometimes provides insufficient damping of structural vibrations, especially for high dynamic machine tools or robots. The axis performance can be improved significantly by state space control extensions that are meanwhile available for commercial machine tool control systems. This contribution explains the state space control extension application with effective commissioning rules of thumb for typical machine tool axes as well as robot joint drives. The achievable benefit is elucidated by exemplary machine tool axes.展开更多
文摘Commissioning of P/PI-cascade controlled servo axes with flexible load can be quite time consuming, if the step response based setup procedures are applied for the velocity controller as indicated by the automation systems manufacturers. Based on the drive frequency response, suitable rules of thumb with optimum velocity control damping performance are derived in this contribution that turned out to be very efficient in several dozen machine tool servo axis applications of different industrial partners in Switzerland and southern Germany. Anyway, single feedback loop velocity control sometimes provides insufficient damping of structural vibrations, especially for high dynamic machine tools or robots. The axis performance can be improved significantly by state space control extensions that are meanwhile available for commercial machine tool control systems. This contribution explains the state space control extension application with effective commissioning rules of thumb for typical machine tool axes as well as robot joint drives. The achievable benefit is elucidated by exemplary machine tool axes.
