Commissioning of Servo Drives Considering Structural Elasticities  

作　　者：Oliver Zirn Lukas Katthan Volkmar Welker 

机构地区：[1]Pforzheim University, Mechatronic Engineering, Pforzheim, Germany [2]Marburg University, Discrete Mathematics, Marburg, Germany

出　　处：《Journal of Mathematics and System Science》2014年第8期546-556,共11页数学和系统科学（英文版）

摘　　要：P/H-cascade controlled servo axes sometimes provide insufficient damping of structural vibrations, especially for high dynamic machine tools or robots. The axis performance can be improved significantly by state space control extensions that are meanwhile available for commercial machine tool control systems. This contribution explains the state space control extension application with effective commissioning rules of thumb for benefit is elucidated by exemplary machine tool axes. typical machine tool axes as well as robot joint drives. The achievable

关 键 词：伺服驱动器 结构弹性 调试 机床控制系统 机器人关节 空间控制 振动阻尼 级联控制 

分 类 号：TP311.1[自动化与计算机技术—计算机软件与理论] TM921.541[自动化与计算机技术—计算机科学与技术]