This paper presents a study on trajectory tracking problem for an AC synchronous servomotor. A mathematical model for the system including AC synchronous servomotor, gearbox, and a load is developed to examine the systems dynamic behavior. The system is controlled by a traditional PID (proportional + integral + derivative) controller. The required values for the controller settings are found experimentally. Different motion profiles are designed, and trapezoidal ones are implemented. Thus, the experimental validation of the model is achieved using the experimental setup. The simulation and experimental results are presented. The tracking performance of an AC servomotor system is illustrated with proposed PID controller.

background

https://downloads.hindawi.com/journals/mse/2007/050586.pdf

Modelling and simulation of mechatronical devices

Motion control and implementation for an AC servomotor system

Machines are motors of the economy. This domain of the theory of machines and mechanisms may be regarded to be a determinant of the development of technology. The developed study of mechanisms and machines is characterized as an interdisciplinary science with the possibility of motion-controlled programming. The dynamic development of many disciplines of technical sciences and nanotechnology has led to activities inspired by various bases of knowledge. Such an interaction has led to creating in the past neomechanics, the present mechatronics and in the future may be neuromechanics. Mechatronics, which was first created out of mechanical engineering as a theory of controlled motion, can be regarded as a discipline, the paradigm of which is apparent from the imposition of formalism, rights and principles of scientific disciplines, in particular principles of the science of mechanisms and machines. In this meaning the science of mechanisms and machines is dominant in formulating and solving engineering problems, and this is a key factor formulating twenty-first century civilization. Intelligent machines operate on the principle of the synergistic interaction of mechanical subsystems, hydraulic, electronic and optical computing.

The Significance and Role of IFToMM Poland in the Creative Development of Mechanism and Machine Science

1. Circuit Equation Formulation.- 1.1 Branch Constitutive Equations.- 1.2 Nodal Analysis.- 1.3 Modified Nodal Analysis.- 1.4 Sparse Tableau Analysis.- 2. Linear Equation Solution.- 2.1 Gaussian Elimination.- 2.2 LU Transformation.- 2.3 LU Transformation Variations.- 2.4 Determinants.- 2.5 Accuracy Enhancement.- 2.6 Iterative Methods.- 3. Sparse Matrix Methods.- 3.1 Sparse Matrix Storage.- 3.2 Optimal Ordering.- 4. Nonlinear Equation Solution.- 4.1 Newton-Raphson Iteration.- 4.2 Convergence and Termination.- 4.3 Variations of Newton-Raphson Iteration.- 4.4 Internal Device Node Suppression.- 5. Numerical Integration.- 5.1 Introduction to Integration Formulas.- 5.2 Application of Integration Formulas.- 5.3 Construction of Integration Formulas.- 5.4 Truncation Error of Integration Formulas.- 5.5 Stability of Integration Methods.- 5.6 Automatic Timestep Control.- 6. Adjoint Networks and Sensitivity.- 6.1 Adjoint Networks.- 6.2 Element Sensitivity.- 6.3 Small-Signal Sensitivities.- 6.4 Noise and Group Delay Response.- 7. Pole-Zero Evaluation.- 7.1 Two-Port Transfer Functions.- 7.2 Muller's Method.- 8. Statistical Analysis.- 8.1 Distributions.- 8.2 Tracking and Pivots.- 8.3 Pivot Sorting Algorithm.- 8.4 Correlation.- References.

Modelling and simulation of mechatronical devices

Citations

Motion control and implementation for an AC servomotor system

The Significance and Role of IFToMM Poland in the Creative Development of Mechanism and Machine Science

References

Fundamentals of Computer-Aided Circuit Simulation

Related Papers (5)

Building an analogue fault simulation tool and its application to MEMS

Development of the physics-based assembly system model for the mechatronic validation of automated assembly systems

A modular simulation system for power electronics and control applications

Applications of modelling and simulation in mechatronics and fluid power system design – education and research

A Model-Based Approach for Mixed Hardware In the Loop Simulation of Manufacturing Systems