Autotuning of axis control systems for robots and machine tools

Author

Jouve, D. ; Rognon, J.P. ; Saadi, J.

Author_Institution

Lab d´´Electrotech. de Grenoble, ENSIEG, St. Martin d´´Heres, France

fYear

1991

fDate

28 Oct-1 Nov 1991

Firstpage

1106

Abstract

The authors describe an autotuned high-performance digital position and speed control system applied to permanent magnet synchronous motors fed by pulsewidth modulated inverters. The design of the RST controllers used in the speed and position loops and the identification process for the automatic tuning of the controllers are presented. The effects of the neglected small time constants of the process noise and of the load torque disturbances are studied and illustrated with simulation and experimental results

Keywords

control systems; digital control; invertors; machine control; machine tools; permanent magnet motors; position control; pulse width modulation; robots; synchronous motors; tuning; velocity control; automatic tuning; axis control systems; digital position control system; machine tools; permanent magnet synchronous motors fed; pulsewidth modulated inverters; robots; speed control system; Automatic control; Control systems; Digital modulation; Machine tools; Permanent magnet motors; Pulse inverters; Pulse width modulation inverters; Robot control; Robotics and automation; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on

Conference_Location

Kobe

Print_ISBN

0-87942-688-8

Type

conf

DOI

10.1109/IECON.1991.239285

Filename

239285