Evaluation of Multi-Axis Control Systems
Conference: PCIM Europe 2015 - International Exhibition and Conference for Power Electronics, Intelligent Motion, Renewable Energy and Energy Management
05/19/2015 - 05/20/2015 at Nürnberg, Deutschland
Proceedings: PCIM Europe 2015
Pages: 8Language: englishTyp: PDF
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Authors:
Martens, Onno; Kloeck, Jan; Schumacher, Walter (Technische Universität Braunschweig, Institut für Regelungstechnik, Germany)
Abstract:
In this paper, a reference multi-axis control system architecture based on FPGA-based servo inverters is evaluated and compared to usual system designs. The influence of communication latencies on control performance is addressed and analyzed. Advanced motion control use model-based trajectory planning as feed-forward. This part of the signal flow can take the latency into account and compensate for it. The evaluation addressed in this paper focuses on dynamic disturbance rejection in applications with redundant degrees of freedom where control deviations are shared between axes. Evaluation criteria are based on dynamic stiffness and disturbance rejection bandwidth.