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Outline. General Requirements, State of the Art, Structure and Components of Servo Drives Drive Control with Position/Speed Encoder Motion Control Drive Control without Position/Speed Encoder Data Exchange (Communication ). Typical Machine Tool. feed drives

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Presentation Transcript
outline
Outline
  • General Requirements, State of the Art, Structure and Components of Servo Drives
  • Drive Control with Position/Speed Encoder
  • Motion Control
  • Drive Control without Position/Speed Encoder
  • Data Exchange (Communication)
slide3

Typical Machine Tool

feed drives

control the position between working piece and working tool

main drives

provide

processing power

parallel kinematics
Parallel Kinematics

TriCenter DMT 100

(Deckel Maho)

characteristics of servo drives
Characteristics of Servo Drives

feed

drives

axis

high efficiency

small size

smooth operation

at low speeds

4 quadrant operation

high maximum torque

constant maximum torque

speed range < 10.000 rpm

rated power < 20 kW

Spindle

drives

main

high rated/continuous torque

constant maximum power

speed range < 20.000 rpm

rated power < 100 kW

hystory of motor types in servo drives
Hystory of Motor Types in Servo Drives

ASM

asynchronous

motor

ASM

?

DC

SM

synchronous

motor

SM

SM

?

EC

brushless

DC

1970 ff.

1980 ff.

1990 ff.

slide7

State of the Art: AC Servos

High Speed Spindle

(Siemens)

DSD Servo

(Baumüller)

High Torque Motor

(Baumüller)

Spindle Motor

(Franz Kessler)

encoders
Encoders
  • Advantages
  • low cost
  • high accuracy
  • (e. g. by gear ratio)
  • Disadvantages
  • elastic effects
  • and back lash

source : ERN-Geber, Heidenhain

encoder technologies
Encoder Technologies

Meßbereich

measuring area

Auflösung

resolution

Robustheit

robustness

Massenproduktion

mass production

robustness

mass production

measuring area

resolution

magnetisch

magnetic

Resolver:

circular

tooth wheel:

point

low

(multipole resolver: 20 Bit)

good

bad

magnetic

optisch

optical

point

high

(CCD: > 30 Bit)

problematic

(sensitive to temperature

and shock)

very good

(photographic production)

optical

kapazitive

capacitive

circular

high

good

good

Too less experience to make knowledge-based statements.

capacitive

technology

ac servo drive control
AC Servo Drive Control

for synchronous

machines

speed

controller

current

controllers

field weakening

field controller

machine

model

for asynchronous

machines

motion control e g electronic gear
Motion Control (e. g. Electronic Gear)

Synchronized

communication

Virtual

master

main drive

slide13

Sensorless Control Categories

models based on anisotropies

fundamental models

emf-model,

Observer

dq-inductance

rotor slotting

effect

main field

saturation

flux

modulation

...

...

slide14

Industrial Drives with Sensorless Control

since several years / decades sensorless control is investigated

and published on conferences and magazines

- acceptance in industry, however, is rather low

Why ?

new ideas and concepts are interesting for industry,

only if they do not result in higher cost or higher effort!!!

What does that mean

for industrial drives with sensorless control ?

 no additional or more powerful processors / controllers

 no additional hardware or additional sensors (e. g. voltage sensors)

 no increased installation effort with respect to parameter adjustments

sercos interface
SERCOS interface

MDT

AT

MST

AT

AT

AT

MST

M

m

1

2

t

1.1

t

1.2

t

1.m

t

1.M

t

2

t

Scyc

  • t1.x AT transmission starting time
  • t2 MDT transmission starting time
  • tScyc SERCOS cycle time
future developments
Future Developments

Motors (Actors)

  • synchronous motors with surface mounted permanent magnets as a standard

- different solutions in special applications only (for cost reasons)

Signal Processing

  • further developments on speed/position encoders to be expected
  • sensorless/encoderless control only, if

 no additional hardware effort (processors and/or sensors) no parameter dependencies during operation

Data Exchange/Communication

  • synchronized communication systems are demanded

for multi axis servo drive systems for high requirements