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Tham khảo tài liệu 'mechatronic servo system control - m. nakamura s. goto and n. kyura part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 5.2 Contour Control Method with Avoidance of Torque Saturation 111 3 Contour Control Considering Torque Saturation In the contour control of an industrial mechatronic servo system motion is performed in the region without generating torque saturation. In order to implement it the trajectory of mechatronic servo system should be determined without torque saturation. Fig. 5.8 illustrates the contour control structure of a mechatronic servo system. The contour control considering torque saturation is divided into two big parts. One is the generation part of the trajectory in working coordinates without torque saturation. Another is the compensation part of dynamics of the mechatronic servo system. For generation of trajectory wx t wy t a locus is generated by satisfying the working precision e between the objective locus rx ry and the generated locus wx wy without torque saturation in a mechatronic servo system as shown in Fig. 5.8 firstly. The velocity given in locus wx wy generation is approximated with the objective velocity v with a limitation in the region without torque saturation. If directly using the generated trajectory wx t wy t as an input trajectory ux t uy t following the locus x y generated from the locus wx wy will be degraded because of the dynamics of the mechatronic servo system. If using the inverse dynamics of the mechatronic servo system in equation 5.11 without torque saturation the input trajectory ux t uy t can be adopted with revised generated trajectory wx t wy t . Then any delay of the mechatronic servo system is compensated and the following trajectory px t py t is consistent with the generated trajectory wx t wy t . Moreover the following locus x y is satisfied with working precision of e. 4 Trajectory Generation Considering Torque Saturation For an objective locus rx ry generated from two lines for approximating the trajectory shown in Fig. 5.7 the trajectory generation method if generating a trajectory along the time shift under the .