Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 1 ppsx

Kyura published the original book which mainly consisted of the authors’ original research achievement of mechatronic servo systems control during last over ten years.. From the Translat

Lecture Notes

Editors: M Thoma · M Morari

Berlin Heidelberg NewYork Hong Kong London Milan Paris

Tokyo

M Nakamura ž S Goto ž N Kyura

Mechatronic

Servo System Control

Problems in Industries

and their Theoretical Solutions

Translated by Tao Zhang

With 79 Figures and 21 Tables

1 3

Series Advisory Board

A Bensoussan· P Fleming · M.J Grimble · P Kokotovic ·

A.B Kurzhanski· H Kwakernaak · J.N Tsitsiklis

Authors

Department of Advanced Systems Department of Advanced Systems

Communication Engineering Intelligent Systems Research Division Kyushu School of Engineering National Institute of Informatics

Japan

Translation from the Japanese edition

© Morikita Shuppan Co., Ltd 1998

All Rights Reserved.

ISSN 0170-8643

ISBN 3-540-21096-2 Springer-Verlag Berlin Heidelberg New York

Library of Congress Control Number: 2004103117

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From the Main Author

As a main author of Mechatronic Servo System Control (in Japanese), I would like to express my thanks to Dr Zhang Tao who translated our book into English The authors, myself, Dr Goto and Prof Kyura published the original book which mainly consisted of the authors’ original research achievement

of mechatronic servo systems control during last over ten years The original book was fortunately awarded as the best book from the Society of Instrument and Control Engineering (SICE in Japan) in 2001 Moreover, the book was already translated into Korea language by a Korean publisher As the authors believe that our book is effective for students and engineers who are involved

in the field of Mechatronic Control and Robotics, we have been intended the translation of it in English The authors themselves made the Japanese-English dictionary for the terminologies in the book, and ask to Dr Zhang Tao for the translation of the book by use of the dictionary Dr Zhang Tao has completed the translation by use of his every night times during last several months I would like to show my great gratitude for his effort for the translation I also express my great thanks to Prof Jeffrey Johnson and Dr Mike Richards (Open University in UK) who helped the final check of the translation

November 2002 Main author Masatoshi NAKAMURA

From the Translator

Since the term ”Mechatronics” was first introduced by a Yaskawa Electric en-gineer in 1969, and its rigorous definition was given by a technical committee, i.e., The International Federation for the Theory of Machines and

Mecha-nism (IFToMM), as “Mechatronics is the synergistic combination of precision

mechanical engineering, electronic control, and systems thinking in design of products and manufacturing processes”, the development of mechatronic

tech-niques has led to widespread adoption of electronics in machinery At the same time, as one of the key techniques of mechatronics, servo control system has been well defined for various kinds of mechanical system At present, mecha-tronic techniques are essential for advanced mechanical engineering Further-more, the introduction of servo control system design to engineers engaged in mechanical engineering is thought to be indispensable

As a researcher on mechatronic technique, when I firstly read the Japanese version of this book ”Mechatronic Servo System Control”, written by Prof Nakamura, Dr Goto and Prof Kyura, I was attracted by its meticulous study

on the issues of mechatronic servo control system arising from mechanical en-gineering as well as the significance of application Additionally, I aroused a strong desire to transfer its valuable achievements to whole researchers and engineers who are engaging in the mechatronic techniques or willing to ob-tain knowledge related with mechatronic techniques After I heard that this book was awarded the 2001 Works Reward of The Society of Instrument and Control Engineers (SICE), and Prof Nakamura also had the same desire to translate it into other languages for readers, I expressed my strong wish to be responsible for translating this book into English With deep trust and great encouragement from Prof Nakamura, I started this challenging project from one year ago

Through the great efforts, the English version of ”Mechatronic Servo Con-trol System” was finished recently As I read the English version of this book once again, I have also obtained great enlightenment from it, particularly for

my further research on mechatronic techniques From the contents of this book, I believe all readers will share the same feeling The profit of this book

VIII From the Translator

will be reflected not only in the research or teaching on mechatronic tech-niques, but also for engineers working on mechanical engineering

Finally, I also want to express my great gratitude to Prof Nakamura,

Dr Goto and Prof Kyura to distribute such a great valuable book on their achievements within several decades of years to whole readers For the kindly help from Dr D Kushida during the period of my translation, especially the valuable review of this book from Prof Jeffrey Johnson and Dr Mike Richards, Open University, UK, I transfer my deep appreciate to them Because of my insufficiency of knowledge on translation between Japanese and English, there might have some mistakes in this book It will be very kind

if you can indicate them to me and I will make my best efforts continuously

to improve them

The editor and composer is engaging in the study on systems control and their applications in university As one of his research fields, with a plenty of opportunities of discussion with Kyura, who is long-term working on the servo controller design and its application in mechatronic industry, on the control

of mechatronic machine during the past ten years, the cooperative research has been made greatly progress These discussion meetings were held several times once a year Achievements on the items of these discussion meetings were

compiled into reports, each of which has between 50∼100 pages Then, many

valuable commends were obtained from Kyura in terms of these achievements Moreover, new research directions were found The distributions of co-authors are that,

Kyura illustrated the issues on the control in the servo parts of an indus-trial robot adopted in industry, numerical control working machine, three-dimensional measurement machine, a mechatronic machine called a chip mounter, etc.;

Nakamura explained these issues in systems control theory and formulized the obtained crucial points of problem solution;

Goto made computer simulations for the solution of these problems as well as verified the appropriation of these distinct theoretical results by us-ing mechatronics-related experimental devices in the laboratory In addition, among the undergraduate students, master students, doctor students who have interests in the control of mechatronic servo system, some items were allocated to them and the relevant achievements were obtained by research supervision So far, about 60 conference presentations as well as 20 reviewed papers on the mechatronic control have been completed

Based on the above research story, the motivation of writing this book was written down Through the question answering in the conference for presenting the obtained research achievement or dealing with the paper reviewers or the conversation in the visiting the universities or research institutes which are doing research on robot manipulator, we felt strongly that a lot of researchers

X Preface

or engineers have many misunderstanding on the already solved problems in industry

In fact, according to the words of coauthor Kyura, the strategies for the encountered problems in the servo controller design in industry depending on the experience with trial errors of designers and engineers are just responding

to the demand of the world These technologies have not become distinct in the so-called know-how world Since they are not logical strategies, even suc-cessfully performing them, there are still many cases that the understandable explanation can not be obtained In industry, even the clarification of the un-desired points was conducted concretely, the contents are not announced It

is still in the present condition that why the good pursuit is hardly realized Through the collaboration, the essence of problems encountered in indus-try was analyzed and formulized logically and mathematically According to the solution of derived equations and the verification of justifiability of these results, many useful items were obtained At the present time, these items are summarized systematically The opaque technologies under the name of know-how until now are explained distinctly Therefore, many researchers or engineers can know them widely and effectively use them These are the mo-tivation of writing this book

The problems discussed in this book are based on the common needs of industries rather than the pending problem areas of one research engineer in industry The results for them, which were being caught empirically until now, are clarified logically Therefore, the results are adapted for a real machine, and various performances or control methods of controller design previously determined with the experience of an expert can now are decided logically based on the adopted results Moreover, a know-how only suitable for special situations until now, is changed into a more complicated and more ingenious universal technology This book is unique in handling these problems The organization of this book is that, the design of the servo controller of mechatronic servo system is with respect to the fields of modeling, analysis and controller design control It is from the introduction to the following chapters till 7

In the introduction, the outline of mechatronic servo system and its main points of the problem in industry are given

In chapter 2, these problems are solved reasonably, which are the achieve-ments of cooperative research of co-authors In each chapter, main points are attached

The present conditions and problems in industry, main results, significant

of results as well as the explanation of the main points of applications about each item are conducted at the commencement of each chapter

It is acceptable even if the reader reads this book from the beginning For the reader who wants to learn with the purpose of understanding, it is also good to learn each section of one chapter for dealing with the problems which are combined from the problems personally held and described in introduction

In each section of each chapter, main points are inserted at the beginning of

Preface XI

each section for recommending the text reading thoroughly The contents of each section are based on one of authors’ papers which is specified with the quotation article number in the place of the bibliography list Finally, the book contains an index, a glossary of terms, a collection of symbols and a description of the experimental devices used in our experiments

During preparation, the book was read with distribution of sections of this book by seven master students of department of advanced systems control and engineering, graduate school of science and engineering, Saga university (Mr Shigeto Aoki, Mr Tatsuro Katafuchi, Mr Daisuke Kushida, Mr Kenta Shira-masa, Mr.Shojiro Yamagami, Mr Masashi Tamura, Mr Minoru Nishizawa) Referring to their impressions of the book, the book was revised to improve readability The significance of the problems took up it in this book and the ef-forts are in making the essence of a problem to the formula appropriately The keys to solution of many formulas are the easily adopted basis of classical con-trol (Laplace transformation) or modern concon-trol (differential equation) learnt with the university bachelor degree, and the most fundamental knowledge in the control theory explained in appendix Therefore, not only the enterprise directly related with system control or postgraduate students of university or researchers, but also the undergraduate students with the purpose to make the theory learnt in university into practice can be expected to read it widely We expect that the knowledge obtained from this book can be adopted widely in mechatronic industries, and expect simultaneously that the research planted the root in this kind of ground will be expanded at the research institute etc

of an enterprise and, expecially and university

At the end of the preface, since the materials of this book are all ob-tained from the cooperative research, the conditions of cooperative research, thoughts and feelings aroused from the cooperative research, are written as below, though it may be redundant

1 The cooperative researcher should be proficient in each field

2 Keep frequent discussion for a long time among cooperative researchers

3 Respect the views of the partner mutually

4 Fine mutual human relations

Concerning the writing of this book, Mr Kojiro Kobayashi, Department

of production of the Morikita press, and Mr Shoji Ishida, Department of compilation of the Morikita press, took care of it very much All my great gratitude are here expressed

October 1998 Editor-composer Masatoshi NAKAMURA

Outline of Mechatronic Servo Systems

The mechatronic servo system is the major theme studied in this book In particular, the servo system adopted in an electric servo motor is explained in this chapter Several items of its utilization from the development stage to the present as well as its performances The so-called mechanism machine (called

as mechatronic servo system at the following), i.e., the servo system adopted

in the numerical control machine or industrial robot, is generally different from the servo system introduced in the textbook of automatic control, which

is very important when discussing the mechatronic servo system

Firstly, the control pattern assigned in mechatronic servo system is illus-trated The properties of current servo system satisfying the control pattern and its utilization are introduced Next, as the discussion items, the analysis

on mechatronic servo system and its utilization are carried out

1.1 Emergence of Mechatronic Servo Systems

1.1.1 Control Pattern of Mechatronic Servo Systems

The mechatronic servo system, as the control system satisfying the motion conditions of transfer axis of numerical control machine, was originally (about 1967) created when developing the DC servo motor Then, in 1975 by Yaskawa Electric, the velocity control equipment (servo driver unit) unified the compen-sator of control system and power amplifier was sold Initially, it was mainly adopted for the transfer axis control of working machine From 1980, it was also adopted for the position and velocity controls of various kinds of mecha-nisms such as the industrial robot At the generation of this mechatronic servo system, the control pattern, as the start point of servo system construction,

is according to the following

1 The velocity offset for step-shape torque disturbance is below n[rpm]

(gen-erally below 1[rpm])

M Nakamura et al.: Mechatronic Servo System Control, LNCIS 300, pp 1–15, 2004.

Springer-Verlag Berlin Heidelberg 2004