Based on the evaluation of dynamic performance for feed drives in machine tools, this paper presents a two-stage tuning method of servo parameters. In the first stage, the evaluation of dynamic performance, parameter ...Based on the evaluation of dynamic performance for feed drives in machine tools, this paper presents a two-stage tuning method of servo parameters. In the first stage, the evaluation of dynamic performance, parameter tuning and optimization on a mechatronic integrated system simulation platform of feed drives are performed. As a result, a servo parameter combination is acquired. In the second stage, the servo parameter combination from the first stage is set and tuned further in a real machine tool whose dynamic performance is measured and evaluated using the cross grid encoder developed by Heidenhain GmbH. A case study shows that this method simplifies the test process effectively and results in a good dynamic performance in a real machine tool.展开更多
High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameter...High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameters is conducive to overcoming this problem and has a significant effect on reducing the robot＇s tracking error.By taking Delta robot as an example,a method for parameter tuning of the fixed gain motion controller is presented.Having identifying the parameters of the servo system in the frequency domain by the sinusoidal excitation,the PD＋feedforward control strategy is proposed to adapt to the varying inertia loads,allowing the controller parameters to be tuned by minimizing the mean square tracking error along a typical trajectory.A set of optimum parameters is obtained through computer simulations and the effectiveness of the proposed approach is validated by experiments on a real prototype machine.Let the traveling plate undergoes a specific trajectory and the results show that the tracking error can be reduced by at least 50%in comparison with the conventional auto-tuning and Z-N methods.The proposed approach is a whole workspace optimization and can be applied to the parameter tuning of fixed gain motion controllers.展开更多
基金This paper is supported by the Major State Basic Research Development Program of China under Grant No2005CB724101the Key Items Program of International Science and Technology Cooperation of China under Grant No2003DF000021
文摘Based on the evaluation of dynamic performance for feed drives in machine tools, this paper presents a two-stage tuning method of servo parameters. In the first stage, the evaluation of dynamic performance, parameter tuning and optimization on a mechatronic integrated system simulation platform of feed drives are performed. As a result, a servo parameter combination is acquired. In the second stage, the servo parameter combination from the first stage is set and tuned further in a real machine tool whose dynamic performance is measured and evaluated using the cross grid encoder developed by Heidenhain GmbH. A case study shows that this method simplifies the test process effectively and results in a good dynamic performance in a real machine tool.
基金Supported by National Natural Science Foundation of China(Grant Nos.51305293,51135008)
文摘High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameters is conducive to overcoming this problem and has a significant effect on reducing the robot＇s tracking error.By taking Delta robot as an example,a method for parameter tuning of the fixed gain motion controller is presented.Having identifying the parameters of the servo system in the frequency domain by the sinusoidal excitation,the PD＋feedforward control strategy is proposed to adapt to the varying inertia loads,allowing the controller parameters to be tuned by minimizing the mean square tracking error along a typical trajectory.A set of optimum parameters is obtained through computer simulations and the effectiveness of the proposed approach is validated by experiments on a real prototype machine.Let the traveling plate undergoes a specific trajectory and the results show that the tracking error can be reduced by at least 50%in comparison with the conventional auto-tuning and Z-N methods.The proposed approach is a whole workspace optimization and can be applied to the parameter tuning of fixed gain motion controllers.
