High precision motion control, that is, to produce the fastest and smoothest time trajectory as far as the mechanical structure allows.
How do you do that?
Determine the algorithm under system constraints
Meanwhile, the complexity of the algorithm is also restricted by the real-time performance of the system and the speed of the computer
Usually, in addition to the ideal time trajectory, compensation control should be added to achieve the speed and stability of the motion.
The key technologies involved are usually motion control, servo control, mechanical structure design and material selection, as well as system protection and many other aspects.
1. motion control
First of all, the motion control system needs to generate space trajectory relative to time, and directly realize the synchronization control between the various mechanical modules.
For example:
Electronic gear change (stepless change)
All kinds of plane curves, circles, ellipses, y(t) = f(x(t)).
Various space curves, z(t) = f(x(t), y(t))
...
The main technical issues to consider are:
Types of motion trajectories that can be generated (straight line, circle, arc, arbitrary curve)
Order of trajectory relative to time
Maximum velocity, maximum acceleration
Position, velocity accuracy
The number of motion axes can be controlled simultaneously (4 axes,8 axes,......).
Synchronization between axes of motion
The number of servo axes
Servo control
2. servo control
Motion control is how to generate motion control instructions (algorithms), while servo control is how to make electromechanical systems quickly and accurately track motion control instructions,
For example:
System experiment and system identification
Vibration analysis and vibration suppression techniques
Robust control technology
Adaptive control
Self-learning and self-adjustment
Fuzzy training
...
The main technical problems to be solved
Operating voltage
Output current
Work efficiency
Servo control algorithm
Closed-loop response bandwidth
Dynamic/static accuracy
Control stiffness
Steady state time
resolution
Sampling time/control frequency
Various protection functions
Overvoltage protection/undervoltage alarm, short circuit protection, maximum current duration, continuous /RMS current protection, over temperature protection, stop protection, out of control protection (current backfilling protection)
3. actuator
The actuator of the motion system consists of a motor and a mechanical structure to complete the movement. The main purpose of the design of the actuator is to improve the rigidity of the system and suppress the low frequency resonance of the system.
For example:
Actuator/motor design
Motion connection and power transmission
Dynamic analysis and simulation
Structural and vibration analysis
...
The main technical problems to be solved
System stiffness
System resonance frequency
The carrying capacity of the system
Maximum operating speed and acceleration of the system
