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D - Chap 1 - Introduction On Motion Control System

servo control

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10 views12 pages

D - Chap 1 - Introduction On Motion Control System

servo control

Uploaded by

Tô Mẫn
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Industrial Motion Control Systems

Overview of
Motion Control Systems

Ho Chi Minh City


University of Technology 1 1
1
Overview of
Motion Control Systems

• What is the control?


• Motion Control Systems
• Components of a Motion Control
System
• What is a servo?

2
What is the control?

3
Motion Control Systems

A motion control system is an automatic control system that controls the physical
motion or position of an object

Five-axis CNC
Conveyor handling system Six-axis Robot
machines

4
Axis

Single Axis Control

Multiaxis coordination

5
Multiaxis coordination

6
What to control?
A typical motion control system manages position, velocity, and torque of an axis.

▪ Current control = torque control


- Maintaining current (torque) constant
- Mostly included in controller (but not always accessible)
- For fast motor reaction
- No special feedback device needed
▪ Speed control
- Maintaining speed constant
- "speed = 0" does not mean "position is held"
▪ Position control
- Moving from position to position, stop at and maintain a position

7
Components of a Motion Control System

8
Components of a Motion Control System
The Humance-Machine Interface (HMI) is used to communicate with the motion
controller. The HMI may serve two main functions:
• Operating the machine controlled by the motion controller
• Programming the motion controller

Motion controller consists of the following:


1. Computer
• Interpretation of user programs
• Trajectory generation
• Closing the servo loops
• Command generation for the drives (amplifiers)
• Monitoring axis limits, safety interlocks
• Handling interrupts and errors such as excessive following (position) error.6
Industrial Motion Control

9
Components of a Motion Control System
2. I/O for each axis
• Motor power output
• Servo I/O for command output to amplifiers
• Input terminals for feedback signals from motor or other external sensors
• Axis limits, homing signals, and registration.
3. Machine I/O
• Digital input terminals for various sensors such as operator buttons and
proximity sensors
• Digital output terminals to drive external devices (usually through relays)
• Analog inputs (often optional) for analog sensors such as pressure, force
• Analog outputs (often optional) to drive analog devices.
4. Communication
• Network communications with other peripheral devices, the host
computer, and/or supervisory system of the plant using protocols such as
DeviceNet®, Profibus®, ControlNet®,
• EtherNet/IP®, or EtherCAT®
• USB or serial port communications, and
• HMI communications.
10
Components of a Motion Control System
The drive amplifies these signals to high-power voltage and current levels necessary
to operate a motor (the drive is also called an amplifier) The drive closes the current
loop of the servo system

An actuator is a device that provides the energy to move a load. Motion control
systems can be built using hydraulic, pneumatic, or electromechanical (motor)
technologies.

A transmission mechanism is used to connect the load to the motor of an axis.

Feedback devices are used to measure the position or speed of the load. Also, the
drive and the controller use feedback to determine how much current needs to be
applied to each phase of the motor

11
What is a servo?

• A servo is a field of automatic control


• A servo is a control system that controls the position, direction, and
orientation of an object and follows specificed changes in the target
value
• A servo is also called a servomechanism or servo control system

12

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