Servo Loop Bandwidth, Motor Sizing and Power Dissipation. Mark Holcomb Senior Engineer, Motion Control Specialist Celera Motion

Size: px
Start display at page:

Download "Servo Loop Bandwidth, Motor Sizing and Power Dissipation. Mark Holcomb Senior Engineer, Motion Control Specialist Celera Motion"

Transcription

1 Servo Loop Bandwidth, Motor Sizing and Power Dissipation Mark Holcomb Senior Engineer, Motion Control Specialist Celera Motion

2 Professional Background University of Buffalo, 1994 MS ME Active Systems product development. (CSA\Moog, ) Owner- Dynamic Systems Engineering supported KLA- Tencor with servo modeling\tuning, vibration characterization, data acquisition ( , ) Celera Motion Senior Engineer, Motion Control Specialist. Automation software and hardware, motor modeling\analysis software, supporting customers with their motion control applications 2016-Present Modeling control of thrust actuation devices onboard kinetic warheads (AeroJet Corp, )

3 Overview How are servo loop bandwidth, motor sizing and power dissipation all related? Background loop gain, bandwidth and power basics. Move and Settle Application servo bandwidth is not related to motor sizing. Disturbance Tracking Application servo bandwidth directly affects motor sizing. In each case, power dissipation is ultimately the primary driver for motor sizing.

4 What is Loop Gain? Loop gain is the multiplication of each gain block in the loop (the plant, sensor, motor, motor drive and control gain). Higher loop gain higher bandwidth. Once the maximum loop gain is identified (stability met with minimal margin), any individual gain can be lower or higher, as long as the total gain is conserved. Typical Servo Block Diagram PID Amplifier Motor Mechanics Sensor There is not a unique solution for each gain that results in a targeted bandwidth.

5 Loop Gain and Stability Example Higher resolution sensors and higher bandwidth Sensor gain for a system is 1 count per micron. The PID control is optimized meets gain and phase margin requirements with minimal margin (see next slide). The sensor gain is then changed to 10 counts per micron. PID gain set must be reduced by 10x to meet stability requirements (see next slide ). In cases where bandwidth is limited by stability, increasing sensor resolution will not result in higher bandwidth. Increased sensor resolution does not always improve bandwidth.

6 Phase (deg.) Magnitude (db) Higher Resolution Sensor Example- Bode Plot 1 3 Loop TF w/nominal sensor gain Loop TF w/10x sensor gain 0 db. Freq. 5 With 10x sensor gain 4 Gain Margin requirement is violated. Loop Gain must be reduced. 6 db of required Gain Margin. 2 Phase Margin -180 degrees Frequency (Hz) With 10x Sensor gain, stability Gain Margin rule is violated. Loop Gain must be reduced by 10x to maintain stability.

7 Strong Motors High Km motors do not always result in higher bandwidths. Higher bandwidths are often limited by stability, not by the motor s Km value. Stability is limited by mechanical resonances or phase delays in the sensor\actuator path. Higher Km motor is more efficient (Nm/sqrt(w)). Higher bandwidths higher frequencies higher accelerations higher required motor forces higher dissipated power higher required Km. Bandwidth can be limited by stability or by allowable power dissipation.

8 Motor Power Total Power = Thermal + Mechanical for motor sizing we only consider thermal power. Power on its own is instantaneous value, meaning at any point in time, the system has certain power in watts (J/sec). The thermal power at any point (t) during a move is; P t = I t 2 R. This is not the power loss over a duty cycle, which is typically how motors are sized. The term Average Power is a commonly used term for sizing motors. Average Power is based on the current needed to supply the RMS force (which is time weighted value).

9 Force (N) Duty Cycle and Continuous Force (RMS) Duty Cycle is calculated by taking time spent applying force and dividing by the whole time. F1 Time Accel\Decel F2 DC% = (t1 + t2)/(t1+t2+dwell)*100. F rms = F c = F12 t1+f2 2 t2+ Total Time When F1 = F2, etc. F rms = DC F1

10 Acceleration (m/s^2) Move and Settle Application Bandwidth and Trajectory 50 Hz vs. 100 Hz bandwidth create similar motion. Duty Cycle = Time accelerating/total Time = ~74% F1 Acceleration vs. Time Black- Accel Cmd Red- 50 Hz BW Blue- 100 Hz BW t1 t2 t3 Acceleration is dominated by the command trajectory, not the servo bandwidth. 8.5 m/s^2 rms 8.3 m/s^2 rms Time (sec.) -F1

11 Move and Settle Power Calculation Dissipated Power (Pd) Pd = ( DC F1)2 Km 2 = Force 2 RMS, Km 2 where; F RMS = A RMS mass (from example, assume mass of 1 Kg Pd = (8.5 1)2 Km 2 Km = 72 Pd 2 Solve for Km based on your known Pd requirement.

12 Disturbance Tracking Application Example of a Tracking System Z2 (t) M2 (1Kg) Focus Signal Goal minimize Z2(t), while M1 has motion Z1(t). M1 (20 Kg) Z1(t) = 16 um RMS (uniform vibe spectrum up to 1 khz)

13 Motor Force (N) Phase (deg.) Mag. (db) Disturbance Tracking- Continuous Force Plant and Loop Transfer Functions 1 50 Hz Frequency (Hz) Red Solid- Plant Blue Dash- Loop The loop is showing ~50 Hz 0 db crossing servo bandwidth. 2 Motor Force Blue 50 Hz Red 100 Hz Motor force RMS 50 Hz case Frms = 18.7 Nrms 100 Hz case Frms = 46.7 Nrms 3 The higher bandwidth case requires ~2.5x more force to track the higher frequencies. Time (sec.)

14 Disturbance Tracking- Power Calculation Dissipated Power Dissipated power in the system is below and goes with the ^2 of RMS Force; Pd = Frms2 Eq. 1 Km 2 where Km is the motor constant in ( N W ), Km is calculated using; Km = 2 3 Kf 2 R ph In our example, Kf = 50 N/amp and Rph is 2 ohms and Km is calculated to be 29 N/sqrt(W) Eq. 3 Substituting Km into Eq. 4, and the rms force values for the 50 and 100 Hz cases, yields dissipated power of 0.4 watts for the 50 Hz case and 2.4 watts for the 100 Hz case. In this example, a 2x increase in bandwidth results in a 6x increase in dissipated power.

15 Z2 (m) Z2 (m/s^2) Z1 (m) Z2 (m) Disturbance Tracking- Acceleration vs. Bandwidth Pcmd * CLTF * w^2 = Acceleration of target mass 1000Hz Yellow 100 Hz case Green 75 case Red 50 Hz case. RMS acceleration is the area under the acceleration spectrum. Higher bandwidths create a broader acceleration spectrum.

16 Case Study Summary Move and Settle Application Motor sizing is independent of servo loop bandwidth. Motor sizing is a function of motion trajectory. Moving mass (or inertia) and acceleration drive power dissipation. Disturbance Tracking Application Motor sizing is largely driven by the servo bandwidth. Higher bandwidth higher frequencies higher accelerations higher motor forces higher dissipated power. Example 2x increase in servo bandwidth 6x more dissipated power. In each case power dissipated in the motor is the ultimate driving factor for motor sizing.

17 Conclusions Consider the application of your motor and do the appropriate analysis to predict motor power dissipation. Move and settle applications focus on motion trajectory and duty cycle Disturbance tracking focus on servo bandwidth In both cases, the acceleration and mass are critical parameters Allowable power dissipation is the primary factor for motor sizing.

18 Thank You Mark Holcomb Senior Engineer, Motion Control Specialist Celera Motion 125 Middlesex Turnpike Bedford, MA USA Tel: Telephone:

Optimizing Performance Using Slotless Motors. Mark Holcomb, Celera Motion

Optimizing Performance Using Slotless Motors. Mark Holcomb, Celera Motion Optimizing Performance Using Slotless Motors Mark Holcomb, Celera Motion Agenda 1. How PWM drives interact with motor resistance and inductance 2. Ways to reduce motor heating 3. Locked rotor test vs.

More information

Servo Tuning. Dr. Rohan Munasinghe Department. of Electronic and Telecommunication Engineering University of Moratuwa. Thanks to Dr.

Servo Tuning. Dr. Rohan Munasinghe Department. of Electronic and Telecommunication Engineering University of Moratuwa. Thanks to Dr. Servo Tuning Dr. Rohan Munasinghe Department. of Electronic and Telecommunication Engineering University of Moratuwa Thanks to Dr. Jacob Tal Overview Closed Loop Motion Control System Brain Brain Muscle

More information

Advanced Motion Control Optimizes Mechanical Micro-Drilling

Advanced Motion Control Optimizes Mechanical Micro-Drilling Advanced Motion Control Optimizes Mechanical Micro-Drilling The following discussion will focus on how to implement advanced motion control technology to improve the performance of mechanical micro-drilling

More information

The Air Bearing Throughput Edge By Kevin McCarthy, Chief Technology Officer

The Air Bearing Throughput Edge By Kevin McCarthy, Chief Technology Officer 159 Swanson Rd. Boxborough, MA 01719 Phone +1.508.475.3400 dovermotion.com The Air Bearing Throughput Edge By Kevin McCarthy, Chief Technology Officer In addition to the numerous advantages described in

More information

Performance Optimization Using Slotless Motors and PWM Drives

Performance Optimization Using Slotless Motors and PWM Drives Motion Control Performance Optimization Using Slotless Motors and PWM Drives TN-93 REV 1781 Section 1: Abstract Smooth motion, meaning very low position and current loop error while at speed, is critical

More information

CDS 101/110a: Lecture 8-1 Frequency Domain Design

CDS 101/110a: Lecture 8-1 Frequency Domain Design CDS 11/11a: Lecture 8-1 Frequency Domain Design Richard M. Murray 17 November 28 Goals: Describe canonical control design problem and standard performance measures Show how to use loop shaping to achieve

More information

Design of a Simulink-Based Control Workstation for Mobile Wheeled Vehicles with Variable-Velocity Differential Motor Drives

Design of a Simulink-Based Control Workstation for Mobile Wheeled Vehicles with Variable-Velocity Differential Motor Drives Design of a Simulink-Based Control Workstation for Mobile Wheeled Vehicles with Variable-Velocity Differential Motor Drives Kevin Block, Timothy De Pasion, Benjamin Roos, Alexander Schmidt Gary Dempsey

More information

Linear vs. PWM/ Digital Drives

Linear vs. PWM/ Digital Drives APPLICATION NOTE 125 Linear vs. PWM/ Digital Drives INTRODUCTION Selecting the correct drive technology can be a confusing process. Understanding the difference between linear (Class AB) type drives and

More information

Rotary Motion Servo Plant: SRV02. Rotary Experiment #03: Speed Control. SRV02 Speed Control using QuaRC. Student Manual

Rotary Motion Servo Plant: SRV02. Rotary Experiment #03: Speed Control. SRV02 Speed Control using QuaRC. Student Manual Rotary Motion Servo Plant: SRV02 Rotary Experiment #03: Speed Control SRV02 Speed Control using QuaRC Student Manual Table of Contents 1. INTRODUCTION...1 2. PREREQUISITES...1 3. OVERVIEW OF FILES...2

More information

Figure 1: Unity Feedback System. The transfer function of the PID controller looks like the following:

Figure 1: Unity Feedback System. The transfer function of the PID controller looks like the following: Islamic University of Gaza Faculty of Engineering Electrical Engineering department Control Systems Design Lab Eng. Mohammed S. Jouda Eng. Ola M. Skeik Experiment 3 PID Controller Overview This experiment

More information

Advanced Motion Control Optimizes Laser Micro-Drilling

Advanced Motion Control Optimizes Laser Micro-Drilling Advanced Motion Control Optimizes Laser Micro-Drilling The following discussion will focus on how to implement advanced motion control technology to improve the performance of laser micro-drilling machines.

More information

Course Outline. Time vs. Freq. Domain Analysis. Frequency Response. Amme 3500 : System Dynamics & Control. Design via Frequency Response

Course Outline. Time vs. Freq. Domain Analysis. Frequency Response. Amme 3500 : System Dynamics & Control. Design via Frequency Response Course Outline Amme 35 : System Dynamics & Control Design via Frequency Response Week Date Content Assignment Notes Mar Introduction 2 8 Mar Frequency Domain Modelling 3 5 Mar Transient Performance and

More information

FFP-TF2 Fiber Fabry-Perot Tunable Filter Technical Reference

FFP-TF2 Fiber Fabry-Perot Tunable Filter Technical Reference FFP-TF2 Fiber Fabry-Perot Tunable Filter MICRON OPTICS, INC. 1852 Century Place NE Atlanta, GA 3345 Tel. (44) 325-5 Fax. (44) 325-482 Internet: www.micronoptics.com Email: sales@micronoptics.com Rev_A

More information

This manuscript was the basis for the article A Refresher Course in Control Theory printed in Machine Design, September 9, 1999.

This manuscript was the basis for the article A Refresher Course in Control Theory printed in Machine Design, September 9, 1999. This manuscript was the basis for the article A Refresher Course in Control Theory printed in Machine Design, September 9, 1999. Use Control Theory to Improve Servo Performance George Ellis Introduction

More information

CDS 101/110a: Lecture 8-1 Frequency Domain Design. Frequency Domain Performance Specifications

CDS 101/110a: Lecture 8-1 Frequency Domain Design. Frequency Domain Performance Specifications CDS /a: Lecture 8- Frequency Domain Design Richard M. Murray 7 November 28 Goals:! Describe canonical control design problem and standard performance measures! Show how to use loop shaping to achieve a

More information

ME 375 System Modeling and Analysis

ME 375 System Modeling and Analysis ME 375 System Modeling and Analysis G(s) H(s) Section 9 Block Diagrams and Feedback Control Spring 2009 School of Mechanical Engineering Douglas E. Adams Associate Professor 9.1 Key Points to Remember

More information

Step vs. Servo Selecting the Best

Step vs. Servo Selecting the Best Step vs. Servo Selecting the Best Dan Jones Over the many years, there have been many technical papers and articles about which motor is the best. The short and sweet answer is let s talk about the application.

More information

Another Compensator Design Example

Another Compensator Design Example Another Compensator Design Example + V g i L (t) + L + _ f s = 1 MHz Dead-time control PWM 1/V M duty-cycle command Compensator G c c( (s) C error Point-of-Load Synchronous Buck Regulator + I out R _ +

More information

Application of Gain Scheduling Technique to a 6-Axis Articulated Robot using LabVIEW R

Application of Gain Scheduling Technique to a 6-Axis Articulated Robot using LabVIEW R Application of Gain Scheduling Technique to a 6-Axis Articulated Robot using LabVIEW R ManSu Kim #,1, WonJee Chung #,2, SeungWon Jeong #,3 # School of Mechatronics, Changwon National University Changwon,

More information

All Servos are NOT Created Equal

All Servos are NOT Created Equal All Servos are NOT Created Equal Important Features that you Cannot Afford to Ignore when Comparing Servos Michael Miller and Jerry Tyson, Regional Motion Engineering Yaskawa America, Inc. There is a common

More information

Introduction to Servo Control & PID Tuning

Introduction to Servo Control & PID Tuning Introduction to Servo Control & PID Tuning Presented to: Agenda Introduction to Servo Control Theory PID Algorithm Overview Tuning & General System Characterization Oscillation Characterization Feed-forward

More information

Managing PM AC Servo Motor Overloads: Thermal Time Constant

Managing PM AC Servo Motor Overloads: Thermal Time Constant Managing PM AC Servo Motor Overloads: Thermal Time Constant 1 Hurley Gill, Senior Applications / Systems Engineer When intermittent power density is of a required high value, you may not want to use classic

More information

Actuator Precision Characterization

Actuator Precision Characterization Actuator Precision Characterization Covers models T-NAXX, T-LAXX, X-LSMXXX, X-LSQXXX INTRODUCTION In order to get the best precision from your positioning devices, it s important to have an understanding

More information

of harmonic cancellation algorithms The internal model principle enable precision motion control Dynamic control

of harmonic cancellation algorithms The internal model principle enable precision motion control Dynamic control Dynamic control Harmonic cancellation algorithms enable precision motion control The internal model principle is a 30-years-young idea that serves as the basis for a myriad of modern motion control approaches.

More information

Homework Assignment 13

Homework Assignment 13 Question 1 Short Takes 2 points each. Homework Assignment 13 1. Classify the type of feedback uses in the circuit below (i.e., shunt-shunt, series-shunt, ) Answer: Series-shunt. 2. True or false: an engineer

More information

3D Distortion Measurement (DIS)

3D Distortion Measurement (DIS) 3D Distortion Measurement (DIS) Module of the R&D SYSTEM S4 FEATURES Voltage and frequency sweep Steady-state measurement Single-tone or two-tone excitation signal DC-component, magnitude and phase of

More information

Advanced Servo Tuning

Advanced Servo Tuning Advanced Servo Tuning Dr. Rohan Munasinghe Department of Electronic and Telecommunication Engineering University of Moratuwa Servo System Elements position encoder Motion controller (software) Desired

More information

CDS 110 L10.2: Motion Control Systems. Motion Control Systems

CDS 110 L10.2: Motion Control Systems. Motion Control Systems CDS, Lecture.2 4 Dec 2 R. M. Murray, Caltech CDS CDS L.2: Motion Control Systems Richard M. Murray 4 December 22 Announcements Final exam available at 3 pm (during break); due 5 pm, Friday, 3 Dec 2 Outline:

More information

Dynamic Angle Estimation

Dynamic Angle Estimation Dynamic Angle Estimation with Inertial MEMS Analog Devices Bob Scannell Mark Looney Agenda Sensor to angle basics Accelerometer basics Accelerometer behaviors Gyroscope basics Gyroscope behaviors Key factors

More information

CU18A FEATURES GENERAL DESCRIPTION APPLICATIONS ULTRASONIC TRANSDUCER (800) (515) Etrema Products, Inc.

CU18A FEATURES GENERAL DESCRIPTION APPLICATIONS ULTRASONIC TRANSDUCER  (800) (515) Etrema Products, Inc. Etrema Products, Inc. FEATURES HIGH DYNAMIC FORCE 35 N LOW VOLTAGE DRIVE - V 5 khz TO khz HORN BANDWIDTH CONTINUOUS OR PULSE MODE OPERATES FROM DC TO khz ACTIVE COOLING THERMAL PROTECTION OVER-CURRENT

More information

Fundamentals of Servo Motion Control

Fundamentals of Servo Motion Control Fundamentals of Servo Motion Control The fundamental concepts of servo motion control have not changed significantly in the last 50 years. The basic reasons for using servo systems in contrast to open

More information

Experiment 9. PID Controller

Experiment 9. PID Controller Experiment 9 PID Controller Objective: - To be familiar with PID controller. - Noting how changing PID controller parameter effect on system response. Theory: The basic function of a controller is to execute

More information

Motomatic via Bode by Frank Owen, PhD, PE Mechanical Engineering Department California Polytechnic State University San Luis Obispo

Motomatic via Bode by Frank Owen, PhD, PE Mechanical Engineering Department California Polytechnic State University San Luis Obispo Motomatic via Bode by Frank Owen, PhD, PE Mechanical Engineering Department California Polytechnic State University San Luis Obispo The purpose of this lecture is to show how to design a controller for

More information

CDS 101/110: Lecture 8.2 PID Control

CDS 101/110: Lecture 8.2 PID Control CDS 11/11: Lecture 8.2 PID Control November 16, 216 Goals: Nyquist Example Introduce and review PID control. Show how to use loop shaping using PID to achieve a performance specification Discuss the use

More information

Response spectrum Time history Power Spectral Density, PSD

Response spectrum Time history Power Spectral Density, PSD A description is given of one way to implement an earthquake test where the test severities are specified by time histories. The test is done by using a biaxial computer aided servohydraulic test rig.

More information

Predictions of LER-HER limits

Predictions of LER-HER limits Predictions of LER-HER limits PEP-II High Current Performance T. Mastorides, C. Rivetta, J.D. Fox, D. Van Winkle Accelerator Technology Research Div., SLAC 2e 34 Meeting, May 2, 27 Contents In this presentation

More information

Latest Control Technology in Inverters and Servo Systems

Latest Control Technology in Inverters and Servo Systems Latest Control Technology in Inverters and Servo Systems Takao Yanase Hidetoshi Umida Takashi Aihara. Introduction Inverters and servo systems have achieved small size and high performance through the

More information

SGL Series. Single Guide Linear Motor Stage. Zero cogging and backlash ironless linear motor actuator. High speed and high acceleration

SGL Series. Single Guide Linear Motor Stage. Zero cogging and backlash ironless linear motor actuator. High speed and high acceleration SGL Series Single Guide Linear Motor Stage Direct drive Zero cogging and backlash ironless linear motor actuator High speed and high acceleration Fast response and quick settling time Smooth motion at

More information

An Overview of Linear Systems

An Overview of Linear Systems An Overview of Linear Systems The content from this course was hosted on TechOnline.com from 999-4. TechOnline.com is now targeting commercial clients, so the content, (without animation and voice) is

More information

CDS 101/110: Lecture 9.1 Frequency DomainLoop Shaping

CDS 101/110: Lecture 9.1 Frequency DomainLoop Shaping CDS /: Lecture 9. Frequency DomainLoop Shaping November 3, 6 Goals: Review Basic Loop Shaping Concepts Work through example(s) Reading: Åström and Murray, Feedback Systems -e, Section.,.-.4,.6 I.e., we

More information

ACTIVE VIBRATION CONTROL OF HARD-DISK DRIVES USING PZT ACTUATED SUSPENSION SYSTEMS. Meng-Shiun Tsai, Wei-Hsiung Yuan and Jia-Ming Chang

ACTIVE VIBRATION CONTROL OF HARD-DISK DRIVES USING PZT ACTUATED SUSPENSION SYSTEMS. Meng-Shiun Tsai, Wei-Hsiung Yuan and Jia-Ming Chang ICSV14 Cairns Australia 9-12 July, 27 ACTIVE VIBRATION CONTROL OF HARD-DISK DRIVES USING PZT ACTUATED SUSPENSION SYSTEMS Abstract Meng-Shiun Tsai, Wei-Hsiung Yuan and Jia-Ming Chang Department of Mechanical

More information

Nanomotion Tech Note 105 Using AC and DC Modes with Nanomotion AB2 Driver in Closed-Loop for Nanometer Level Positioning

Nanomotion Tech Note 105 Using AC and DC Modes with Nanomotion AB2 Driver in Closed-Loop for Nanometer Level Positioning Nanomotion Tech Note 105 Using AC and DC Modes with Nanomotion AB2 Driver in Closed-Loop for Nanometer Level Positioning Rev A March 28, 2006 1. Introduction - Ultra- High Resolution in DC Mode Nanomotion

More information

Rejecting Rotational Disturbances on Small Disk Drives Using Rotational Accelerometers

Rejecting Rotational Disturbances on Small Disk Drives Using Rotational Accelerometers Rejecting Rotational Disturbances on Small Disk Drives Using Rotational Accelerometers Danny Abramovitch Hewlett-Packard Labs DYA--ifac_96a.doc--9/19/97--Slide 1 DYA--ifac_96a.doc--9/19/97--Slide 2 Problem:

More information

Mini-MAG Positioning Products

Mini-MAG Positioning Products Mini-MAG Positioning Products Miniature Linear Stage The Mini-MAG (MMG and MMX) line of miniature linear stages blends the ultimate in performance, reliability, and value, delivering nearly twice the accuracy

More information

ME 5281 Fall Homework 8 Due: Wed. Nov. 4th; start of class.

ME 5281 Fall Homework 8 Due: Wed. Nov. 4th; start of class. ME 5281 Fall 215 Homework 8 Due: Wed. Nov. 4th; start of class. Reading: Chapter 1 Part A: Warm Up Problems w/ Solutions (graded 4%): A.1 Non-Minimum Phase Consider the following variations of a system:

More information

DRAFT Expected performance of type-bp SAS in bkagra

DRAFT Expected performance of type-bp SAS in bkagra DRAFT Expected performance of type-bp SAS in bkagra December 27, 216 Yoshinori Fujii Table of Contents 1 Expected performance of type-bp SAS in bkagra 2 1.1 Overview.................................................

More information

Application Note # 5448

Application Note # 5448 Application Note # 5448 Shunt Regulator Operation What is a shunt regulator? A shunt regulator is an electrical device used in motion control systems to regulate the voltage level of the DC bus supply

More information

A Model Based Digital PI Current Loop Control Design for AMB Actuator Coils Lei Zhu 1, a and Larry Hawkins 2, b

A Model Based Digital PI Current Loop Control Design for AMB Actuator Coils Lei Zhu 1, a and Larry Hawkins 2, b A Model Based Digital PI Current Loop Control Design for AMB Actuator Coils Lei Zhu 1, a and Larry Hawkins 2, b 1, 2 Calnetix, Inc 23695 Via Del Rio Yorba Linda, CA 92782, USA a lzhu@calnetix.com, b lhawkins@calnetix.com

More information

Dr Ian R. Manchester

Dr Ian R. Manchester Week Content Notes 1 Introduction 2 Frequency Domain Modelling 3 Transient Performance and the s-plane 4 Block Diagrams 5 Feedback System Characteristics Assign 1 Due 6 Root Locus 7 Root Locus 2 Assign

More information

Load Observer and Tuning Basics

Load Observer and Tuning Basics Load Observer and Tuning Basics Feature Use & Benefits Mark Zessin Motion Solution Architect Rockwell Automation PUBLIC INFORMATION Rev 5058-CO900E Questions Addressed Why is Motion System Tuning Necessary?

More information

Robot Joint Angle Control Based on Self Resonance Cancellation Using Double Encoders

Robot Joint Angle Control Based on Self Resonance Cancellation Using Double Encoders Robot Joint Angle Control Based on Self Resonance Cancellation Using Double Encoders Akiyuki Hasegawa, Hiroshi Fujimoto and Taro Takahashi 2 Abstract Research on the control using a load-side encoder for

More information

Physics 116A Notes Fall 2004

Physics 116A Notes Fall 2004 Physics 116A Notes Fall 2004 David E. Pellett Draft v.0.9 beta Notes Copyright 2004 David E. Pellett unless stated otherwise. References: Text for course: Fundamentals of Electrical Engineering, second

More information

A Machine Tool Controller using Cascaded Servo Loops and Multiple Feedback Sensors per Axis

A Machine Tool Controller using Cascaded Servo Loops and Multiple Feedback Sensors per Axis A Machine Tool Controller using Cascaded Servo Loops and Multiple Sensors per Axis David J. Hopkins, Timm A. Wulff, George F. Weinert Lawrence Livermore National Laboratory 7000 East Ave, L-792, Livermore,

More information

Power Amplifiers. Power with Precision

Power Amplifiers. Power with Precision Power Amplifiers EXPERIENCE Supplier Since 1984 Leader in PWM Design Technology Thousands of Amplifier Installations Wide Range of Application Custom Engineering Support Copley Controls has led the industry

More information

Deconstructing the Step Load Response Reveals a Wealth of Information

Deconstructing the Step Load Response Reveals a Wealth of Information Reveals a Wealth of Information Paul Ho, Senior Engineering Specialist, AEi Systems Steven M. Sandler, Chief Engineer, AEi Systems Charles E. Hymowitz, Managing Director, AEi Systems When analyzing power

More information

AC Linear Motor Servo Driver

AC Linear Motor Servo Driver AC Linear Motor Servo Driver cpc reserves the right to revise any information(technical details) any time without notice, for printing mistakes or any other incidental mistakes. We take no responsibility.

More information

Classical Control Design Guidelines & Tools (L10.2) Transfer Functions

Classical Control Design Guidelines & Tools (L10.2) Transfer Functions Classical Control Design Guidelines & Tools (L10.2) Douglas G. MacMartin Summarize frequency domain control design guidelines and approach Dec 4, 2013 D. G. MacMartin CDS 110a, 2013 1 Transfer Functions

More information

PRESENTED AT PCIM-97 EUROPE CLOSED LOOP CONTROL OF THE LINEAR STEPPING MOTORS ABSTRACT

PRESENTED AT PCIM-97 EUROPE CLOSED LOOP CONTROL OF THE LINEAR STEPPING MOTORS ABSTRACT PRESENTED AT PCIM-97 EUROPE CLOSED LOOP CONTROL OF THE LINEAR STEPPING MOTORS G.Kanevsky HTA Technologies, Inc. ABSTRACT Linear stepping motors (LSM), also known as Sawyer motors by the name of their inventor,

More information

Digitally Tuned Low Power Gyroscope

Digitally Tuned Low Power Gyroscope Digitally Tuned Low Power Gyroscope Bernhard E. Boser & Chinwuba Ezekwe Berkeley Sensor & Actuator Center Dept. of Electrical Engineering and Computer Sciences University of California, Berkeley B. Boser

More information

RS232 AC-DC VOLTAGE POWER AMPLIFIERS PCU-10K / 15K / 20K / 24K-AB/4G/HP PERFORMANCES APPLICATIONS DESCRIPTION COMMERCIAL REFERENCES

RS232 AC-DC VOLTAGE POWER AMPLIFIERS PCU-10K / 15K / 20K / 24K-AB/4G/HP PERFORMANCES APPLICATIONS DESCRIPTION COMMERCIAL REFERENCES PERFORMANCES High accuracy High stability Fast transients High inrush current facilities Wide bandwidth Very low distortion Quadrant change without transition Very low output impedance RS232 APPLICATIONS

More information

MEMS-FABRICATED ACCELEROMETERS WITH FEEDBACK COMPENSATION

MEMS-FABRICATED ACCELEROMETERS WITH FEEDBACK COMPENSATION MEMS-FABRICATED ACCELEROMETERS WITH FEEDBACK COMPENSATION Yonghwa Park*, Sangjun Park*, Byung-doo choi*, Hyoungho Ko*, Taeyong Song*, Geunwon Lim*, Kwangho Yoo*, **, Sangmin Lee*, Sang Chul Lee*, **, Ahra

More information

Design and Implementation of the Control System for a 2 khz Rotary Fast Tool Servo

Design and Implementation of the Control System for a 2 khz Rotary Fast Tool Servo Design and Implementation of the Control System for a 2 khz Rotary Fast Tool Servo Richard C. Montesanti a,b, David L. Trumper b a Lawrence Livermore National Laboratory, Livermore, CA b Massachusetts

More information

High Current High Power OPERATIONAL AMPLIFIER

High Current High Power OPERATIONAL AMPLIFIER OPA High Current High Power OPERATIONAL AMPLIFIER FEATURES WIDE SUPPLY RANGE: ±V to ±V HIGH OUTPUT CURRENT: A Peak CLASS A/B OUTPUT STAGE: Low Distortion SMALL TO- PACKAGE APPLICATIONS SERVO AMPLIFIER

More information

ADR-A Series Direct Drive Rotary Motor

ADR-A Series Direct Drive Rotary Motor ADR-A Series Direct Drive Rotary Motor Direct drive, brushless motor fully integrated with encoder and bearing Low cogging torque Low speed and high speed windings Precise homing through index pulse ADR110

More information

(i) Sine sweep (ii) Sine beat (iii) Time history (iv) Continuous sine

(i) Sine sweep (ii) Sine beat (iii) Time history (iv) Continuous sine A description is given of one way to implement an earthquake test where the test severities are specified by the sine-beat method. The test is done by using a biaxial computer aided servohydraulic test

More information

Rectilinear System. Introduction. Hardware

Rectilinear System. Introduction. Hardware Rectilinear System Introduction This lab studies the dynamic behavior of a system of translational mass, spring and damper components. The system properties will be determined first making use of basic

More information

DC SERVO MOTOR CONTROL SYSTEM

DC SERVO MOTOR CONTROL SYSTEM DC SERVO MOTOR CONTROL SYSTEM MODEL NO:(PEC - 00CE) User Manual Version 2.0 Technical Clarification /Suggestion : / Technical Support Division, Vi Microsystems Pvt. Ltd., Plot No :75,Electronics Estate,

More information

Position Control of DC Motor by Compensating Strategies

Position Control of DC Motor by Compensating Strategies Position Control of DC Motor by Compensating Strategies S Prem Kumar 1 J V Pavan Chand 1 B Pangedaiah 1 1. Assistant professor of Laki Reddy Balireddy College Of Engineering, Mylavaram Abstract - As the

More information

Elmo HARmonica Hands-on Tuning Guide

Elmo HARmonica Hands-on Tuning Guide Elmo HARmonica Hands-on Tuning Guide September 2003 Important Notice This document is delivered subject to the following conditions and restrictions: This guide contains proprietary information belonging

More information

Engineering Reference

Engineering Reference Engineering Reference Linear & Rotary Positioning Stages Table of Contents 1. Linear Positioning Stages...269 1.1 Precision Linear Angular Dynamic 1.2 Loading Accuracy Repeatability Resolution Straightness

More information

Magnetic Levitation System

Magnetic Levitation System Magnetic Levitation System Electromagnet Infrared LED Phototransistor Levitated Ball Magnetic Levitation System K. Craig 1 Magnetic Levitation System Electromagnet Emitter Infrared LED i Detector Phototransistor

More information

Cavity Field Control - Feedback Performance and Stability Analysis. LLRF Lecture Part3.2 S. Simrock, Z. Geng DESY, Hamburg, Germany

Cavity Field Control - Feedback Performance and Stability Analysis. LLRF Lecture Part3.2 S. Simrock, Z. Geng DESY, Hamburg, Germany Cavity Field Control - Feedback Performance and Stability Analysis LLRF Lecture Part3.2 S. Simrock, Z. Geng DESY, Hamburg, Germany Motivation Understand how the perturbations and noises influence the feedback

More information

Aero Support Ltd, 70 Weydon Hill Road, Farnham, Surrey, GU9 8NY, U.K.

Aero Support Ltd, 70 Weydon Hill Road, Farnham, Surrey, GU9 8NY, U.K. 4-170 Piezoelectric Accelerometer The CEC 4-170 accelerometer is a self-generating, piezoelectric accelerometer designed for medium temperature vibration measurement applications. This instrument provides

More information

Cleveland State University MCE441: Intr. Linear Control Systems. Lecture 12: Frequency Response Concepts Bode Diagrams. Prof.

Cleveland State University MCE441: Intr. Linear Control Systems. Lecture 12: Frequency Response Concepts Bode Diagrams. Prof. Cleveland State University MCE441: Intr. Linear Control Systems Lecture 12: Concepts Bode Diagrams Prof. Richter 1 / 2 Control systems are affected by signals which are often unpredictable: noise, disturbances,

More information

FEATURES DESCRIPTION THE OEM ADVANTAGE

FEATURES DESCRIPTION THE OEM ADVANTAGE FEATURES PMAC2 controller from Delta-Tau controls amp bridge directly MODEL POWER I-CONT (A) I-PEAK (A) 7229AC 32~132VAC 10 20 7429AC 32~264VAC 10 20 Serial digital current feedback from U & V phases Mini

More information

Machine Data Acquisition. Powerful vibration data collectors, controllers, sensors, and field analyzers

Machine Data Acquisition. Powerful vibration data collectors, controllers, sensors, and field analyzers Machine Data Acquisition Powerful vibration data collectors, controllers, sensors, and field analyzers CHOOSE THE PERFECT HARDWARE DESIGN SUITED FOR YOU BRAUN, BRAINS AND BEAUTY TOTAL TRIO IS A COMPLETE

More information

Fig m Telescope

Fig m Telescope Taming the 1.2 m Telescope Steven Griffin, Matt Edwards, Dave Greenwald, Daryn Kono, Dennis Liang and Kirk Lohnes The Boeing Company Virginia Wright and Earl Spillar Air Force Research Laboratory ABSTRACT

More information

DEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING BANGLADESH UNIVERSITY OF ENGINEERING & TECHNOLOGY EEE 402 : CONTROL SYSTEMS SESSIONAL

DEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING BANGLADESH UNIVERSITY OF ENGINEERING & TECHNOLOGY EEE 402 : CONTROL SYSTEMS SESSIONAL DEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING BANGLADESH UNIVERSITY OF ENGINEERING & TECHNOLOGY EEE 402 : CONTROL SYSTEMS SESSIONAL Experiment No. 1(a) : Modeling of physical systems and study of

More information

Frequency Response Analysis and Design Tutorial

Frequency Response Analysis and Design Tutorial 1 of 13 1/11/2011 5:43 PM Frequency Response Analysis and Design Tutorial I. Bode plots [ Gain and phase margin Bandwidth frequency Closed loop response ] II. The Nyquist diagram [ Closed loop stability

More information

Installation Tech Note Dallas, Texas

Installation Tech Note Dallas, Texas AMC B40A40AC Installation Tech Note Dallas, Texas May, 2010 ! CAUTION! Do NOT apply air pressure to release the collet while the servo motor is rotating. The servo motor spindle must be FULLY STOPPED before

More information

PDu150CL Ultra-low Noise 150V Piezo Driver with Strain Gauge Feedback

PDu150CL Ultra-low Noise 150V Piezo Driver with Strain Gauge Feedback PDu1CL Ultra-low Noise 1V Piezo Driver with Strain auge Feedback The PDu1CL combines a miniature high-voltage power supply, precision strain conditioning circuit, feedback controller, and ultra-low noise

More information

PDu150CL Ultra low Noise 150V Piezo Driver with Strain Gauge Feedback

PDu150CL Ultra low Noise 150V Piezo Driver with Strain Gauge Feedback PDu15CL Ultra low Noise 15V Piezo Driver with Strain auge Feedback The PDu15CL combines a miniature high voltage power supply, precision strain conditioning circuit, feedback controller, and ultra low

More information

Chapter 5. Tracking system with MEMS mirror

Chapter 5. Tracking system with MEMS mirror Chapter 5 Tracking system with MEMS mirror Up to now, this project has dealt with the theoretical optimization of the tracking servo with MEMS mirror through the use of simulation models. For these models

More information

POWER AMPLIFIERS 4 QUADRANTS 3x500 VA to 3x1500 VA - THREE-PHASES

POWER AMPLIFIERS 4 QUADRANTS 3x500 VA to 3x1500 VA - THREE-PHASES PERFORMANCES High accuracy High stability Fast transients High inrush current facilities Wide bandwidth Very low distortion Quadrant change without transition Very low output impedance Low noise RS232

More information

TRACK-FOLLOWING CONTROLLER FOR HARD DISK DRIVE ACTUATOR USING QUANTITATIVE FEEDBACK THEORY

TRACK-FOLLOWING CONTROLLER FOR HARD DISK DRIVE ACTUATOR USING QUANTITATIVE FEEDBACK THEORY Proceedings of the IASTED International Conference Modelling, Identification and Control (AsiaMIC 2013) April 10-12, 2013 Phuket, Thailand TRACK-FOLLOWING CONTROLLER FOR HARD DISK DRIVE ACTUATOR USING

More information

Conventional geophone topologies and their intrinsic physical limitations, determined

Conventional geophone topologies and their intrinsic physical limitations, determined Magnetic innovation in velocity sensing Low -frequency with passive Conventional geophone topologies and their intrinsic physical limitations, determined by the mechanical construction, limit their velocity

More information

APPLICATION NOTE POSITION CONTROL OF PIEZO ACTUATORS

APPLICATION NOTE POSITION CONTROL OF PIEZO ACTUATORS APPLICATION NOTE POSITION CONTROL OF PIEZO ACTUATORS INTRODUCTION The aim of this note is to help a piezo actuator user to control its system using Cedrat Technologies drivers, sensors and controllers.

More information

Many applications. Mismatched Load Characterization for High-Power RF Amplifiers PA CHARACTERIZATION. This article discusses the

Many applications. Mismatched Load Characterization for High-Power RF Amplifiers PA CHARACTERIZATION. This article discusses the From April 2004 High Frequency Electronics Copyright 2004 Summit Technical Media, LLC Mismatched Load Characterization for High-Power RF Amplifiers By Richard W. Brounley, P.E. Brounley Engineering Many

More information

EEL2216 Control Theory CT2: Frequency Response Analysis

EEL2216 Control Theory CT2: Frequency Response Analysis EEL2216 Control Theory CT2: Frequency Response Analysis 1. Objectives (i) To analyse the frequency response of a system using Bode plot. (ii) To design a suitable controller to meet frequency domain and

More information

Single-phase or three phase AC220V (-15% ~ +10%) 50 ~ 60Hz

Single-phase or three phase AC220V (-15% ~ +10%) 50 ~ 60Hz KT270-H Servo Drive Features: The use of DSP ( digital signal processor ) chip, greatly accelerating the speed of data acquisition and processing, the motor running with good performance. Application of

More information

Lecture 7:Examples using compensators

Lecture 7:Examples using compensators Lecture :Examples using compensators Venkata Sonti Department of Mechanical Engineering Indian Institute of Science Bangalore, India, This draft: March, 8 Example :Spring Mass Damper with step input Consider

More information

Pan-Tilt Signature System

Pan-Tilt Signature System Pan-Tilt Signature System Pan-Tilt Signature System Rob Gillette Matt Cieloszyk Luke Bowen Final Presentation Introduction Problem Statement: We proposed to build a device that would mimic human script

More information

High Power Monolithic OPERATIONAL AMPLIFIER

High Power Monolithic OPERATIONAL AMPLIFIER High Power Monolithic OPERATIONAL AMPLIFIER FEATURES POWER SUPPLIES TO ±0V OUTPUT CURRENT TO 0A PEAK PROGRAMMABLE CURRENT LIMIT INDUSTRY-STANDARD PIN OUT FET INPUT TO- AND LOW-COST POWER PLASTIC PACKAGES

More information

AC Circuit. What is alternating current? What is an AC circuit?

AC Circuit. What is alternating current? What is an AC circuit? Chapter 21 Alternating Current Circuits and Electromagnetic Waves 1. Alternating Current 2. Resistor in an AC circuit 3. Capacitor in an AC circuit 4. Inductor in an AC circuit 5. RLC series circuit 6.

More information

Active Vibration Isolation of an Unbalanced Machine Tool Spindle

Active Vibration Isolation of an Unbalanced Machine Tool Spindle Active Vibration Isolation of an Unbalanced Machine Tool Spindle David. J. Hopkins, Paul Geraghty Lawrence Livermore National Laboratory 7000 East Ave, MS/L-792, Livermore, CA. 94550 Abstract Proper configurations

More information

Andrea Zanchettin Automatic Control 1 AUTOMATIC CONTROL. Andrea M. Zanchettin, PhD Winter Semester, Linear control systems design Part 1

Andrea Zanchettin Automatic Control 1 AUTOMATIC CONTROL. Andrea M. Zanchettin, PhD Winter Semester, Linear control systems design Part 1 Andrea Zanchettin Automatic Control 1 AUTOMATIC CONTROL Andrea M. Zanchettin, PhD Winter Semester, 2018 Linear control systems design Part 1 Andrea Zanchettin Automatic Control 2 Step responses Assume

More information

Control Servo Design for Inverted Pendulum

Control Servo Design for Inverted Pendulum JGW-T1402132-v2 Jan. 14, 2014 Control Servo Design for Inverted Pendulum Takanori Sekiguchi 1. Introduction In order to acquire and keep the lock of the interferometer, RMS displacement or velocity of

More information

Teaching Mechanical Students to Build and Analyze Motor Controllers

Teaching Mechanical Students to Build and Analyze Motor Controllers Teaching Mechanical Students to Build and Analyze Motor Controllers Hugh Jack, Associate Professor Padnos School of Engineering Grand Valley State University Grand Rapids, MI email: jackh@gvsu.edu Session

More information

Lab 2: Quanser Hardware and Proportional Control

Lab 2: Quanser Hardware and Proportional Control I. Objective The goal of this lab is: Lab 2: Quanser Hardware and Proportional Control a. Familiarize students with Quanser's QuaRC tools and the Q4 data acquisition board. b. Derive and understand a model

More information

Loudspeaker Power Ratings

Loudspeaker Power Ratings Loudspeaker Power Ratings Watts dbv Volts Amps 1 Topics 1) What Determines the SPL from a Loudspeaker 2) Calculating a Loudspeaker s Power Draw 3) Power Draw with Different Signals 4) Power Draw of Different

More information