TAILIEUCHUNG - Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 5

Tham khảo tài liệu 'motion control theory needed in the implementation of practical robotic systems 2 part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Chapter 3 The State of the Motor Control Industry Figure . S-curve profiles that reach the same position. S-curves rely on knowledge of the maximum possible acceleration and deceleration of the system. These values are found experimentally and assumed to be invariant after tuning. Most commercial systems rely on the linear velocity loops discussed above to produce the velocity requested by the profile. The best way to deal with large disturbances is to recalculate the profile in real-time taking the measured feedback as the initial conditions of the new profile. A better profile could be plotted if the controller could observe the new acceleration and deceleration limits of the system. These factors are affected by the inertia and torque of the load and a method of observing these parameters would increase system performance. 25 Chapter 4 The State of Motor Control Academia Chapter 4. The State of Motor Control Academia Motor Modeling Reference Frames and State Space The Velocity Volts transfer function describing the motor control block diagram of Figure is insufficient for modeling the nonlinearities and disturbances of interest in a system. State space modeling will be required. In frequency domain notation the impedance of an inductor is Z Ls. The differential equation for an inductor is v0 Ld Cct . In state space notation the function Cx dị is written in shorthand as x or in code as x_dot for all x. The state equation for an inductor is then x 1Lu where x is the state here x current and u is the input here u voltage . See Bay 17 for a complete discussion of state space. Where the new parameters are 6 electrical angle rad y desired output I 0 electrical velocity rad s These equations have the standard form x Ax Bu y Cx 26 Chapter 4 The State of Motor Control Academia The state space equations can be expanded out into state equation of the form ớ 0-0 1-a 0 - v 1 c . Kt - Kb A Kt a 0-ớ F J -a v J R R - J y 0-ớ 1 -a In state .

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