Title :
Control of a mechanical simulator for testing electrical drives for robotics and industrial automation
Author :
Bassi, Ezio ; Benzi, Francesco
Author_Institution :
Dipartimento di Ingegneria Elettrica, Pavia Univ., Italy
Abstract :
The paper discusses the experiments conducted on a mechanical simulator for testing electrical actuators for robotics and industrial automation. The simulator design has been realized in order to offer a significant benchmark for evaluating and comparing actuators of different construction types and principles of operation. After a summary on the main features of the simulator with the description of the tests carried out on different drives, a methodology for the identification of the link-electrical actuator system is presented, whose results can be used for the automatic tuning of the speed and position loop controllers
Keywords :
industrial robots; machine testing; motor drives; robots; simulation; automatic tuning; electrical drives testing; industrial automation; link-electrical actuator system; mechanical simulator control; position loop controller; robotics; speed loop controller; Actuators; Automatic control; Automatic testing; Drives; Industrial control; Performance evaluation; Reluctance motors; Robotics and automation; Service robots; System testing;
Conference_Titel :
Industry Applications Society Annual Meeting, 1994., Conference Record of the 1994 IEEE
Conference_Location :
Denver, CO
Print_ISBN :
0-7803-1993-1
DOI :
10.1109/IAS.1994.377671
