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Tham khảo tài liệu 'advances in pid control part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 150 Advances in PID Control Fig. 7. Torque reference and compensation torque with the proposed control method. Fig. 8. The experimental results of FTP control Ổ changed . In the second type of experiment was a positioning response with load changing. Here we describe the experimental result that verified the robustness of the proposed control method in the case of real-time load inertia change. To change the load inertia in real time we prepared two sets of positioning tables each consisting of a single-axis slider a coupling a motor a servo amplifier and a linear scale as shown in Fig. 9. The D A channel of the torque reference the voltage to output through the D A board from the PC and the counter channel of the table position signal the pulse which is entered from the counter board were made to be able to be changed at the same time by the software. Therefore the weight added or removed can be imitated and it is possible to perform the experiment based on the actual mobile status of the production machine. In this experiment the trapezoid velocity accelerates from zero velocity to 0.4 m s in 13.5 ms moving to a max velocity of 0.4 m s at the constant in 26.75 ms decelerates to zero velocity in 13.5 ms in Fig. 10 and Fig. 11. The maximum velocity is 0.4m s by this experiment but by the use of the high lead ball screw and the improvement of the frequency response of the counter can put up the maximum velocity. The present position reference A d used in the experiment is the value of this trapezoid velocity pattern integrated among at the time and A d is the same as the position reference in Fig. 4. The positioning response using the conventional method is shown in Fig. 10 and the positioning response using the proposed method is shown in Fig. High-Speed and High-Precision Position Control Using a Nonlinear Compensator 151 11. In these figures ri_A d left side vertical axis is the position reference differential value which is the trapezoid velocity pattern d_x .
