Motion Control Tuning. Motion Control Tuning overview (v2.1) Adrian M. Rankers
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1 Motion Control Tuning
2 Contents Mechatronics Training Curriculum Details of Course Motion Control Tuning
3 Mechatronics Training Curriculum Premium Workshop Mechatronics System Design Advanced Advanced Motion Control (5 days) Advanced Feedforward Control (3 days) Design Principles Masterclass (8 sessions) Advanced Mechatronic System Design (6 days) Standard Motion Control Tuning (6 days) Design Principles Basics (5 days) Design for Additive Manufacturing (3 days) Design for Ultra Clean Vacuum (4 days) Dynamics and Modelling (3 days) Experimental Techniques in Mechatronics (3 days) Metrology & Calibration of Mechatronic Systems (3 days) Actuation and Power Electronics (3 days) Machine Vision in Mechatronic Systems (2 days) Thermal Effects in Mechatronic Systems (3 days) Basic Mechatronics System Design part 2 (5 days) Mechatronics System Design part 1 (5 days) Summer School Opto Mechatronics (5 days) Start * Relevant partner trainings: Applied Optics, Electronics for nonelectrical engineers, System Architecture, Soft skills for technology professionals,
4 Mechatronics Training December 31, 2009 Philips decided to stop all its training activities, which were carried out by the Philips Centre for Technical Training (CTT), and all training programs were transferred to external parties. Currently, all former Philips trainings (and more) are offered to the market under the umbrella of The High Tech Institute ( Content partner for all Mechatronics courses is Mechatronics Academy B.V. ( which is set-up and supervised by : Professor Dr.ir. Jan van Eijk Professor Dr.ir. Maarten Steinbuch Dr.ir. Adrian Rankers
5 Motion Control Tuning
6 Course Directors / Trainers Course Director(s) Prof.dr.ir. M. Steinbuch Dr.ir. A.J.J. van der Weiden Teachers TU/Eindhoven: Other: Prof.dr.ir. M. Steinbuch, Dr. ir. T. Oomen, Dr. ir. P. Nuij, Dr.ir. J.J. Bolder, Ir. T. Gommans, Ir. R. van der Maas Dr.ir. A.J.J. van der Weiden Dr.ir. E.P. van der Laan (Philips Innovation Services) Dr.ir. M.J.M. van de Wal (ASML) Dr..ir. D. Rijlaarsdam (NTS) Ir. F.B. Sperling (Nobleo) Ir. M. Vervoordeldonk (ASML) Dr.ir. G. Witvoet (TNO) Dr.ir. A.M. Rankers (Mechatronics Academy)
7 Program Day Timing Topic Trainers 1 Morning Introduction / Who is who / Program / Goals Basic Modelling Afternoon Time domain tuning - theory & hands-on practice Nuij Steinbuch Rankers 2 Morning Frequency domain Vervoordeldonk Afternoon Stability Van der Weiden a.o. 3 Morning Frequency response measurements theory & hands-on practice Oomen / Bolder Afternoon Mechatronics Sperling 4 Morning Filters Witvoet Afternoon Evening Loopshaping game Dinner 5 Morning Design for performance v.d. Wal Van der Weiden / v.d. Maas / Gommans Afternoon Feedforward theory & hands-on practice Vd Laan/ Bolder 6 Morning Learning control Non-linear identification / feedforward Afternoon Motion control research Interaction in control systems Oomen Rijlaarsdam Steinbuch Van der Weiden 7
8 Day 1 (morning): Intro / Basic Modelling Introduction / Goals Modelling of motion systems r u y w = reference speed = throttle angle, degrees = actual speed, mph = road grade, % r + - Controller w u - y 10 + With feedback y = 0.999r w w 0.5 Controller r 1/10 Without feedback u + - y 10 y = r - 5w
9 Day 1 (afternoon): Time domain tuning Tuning in time domain Theory & Hands-on Matlab/Simulink + exp. setup
10 Day 2 (morning): Frequency domain Frequency domain Transfer function Frequency response function Physical interpretation
11 Day 2 (afternoon): Stability Introduction Intro stability in the time domain Intro stability in the frequency domain Nyquist stability criterion Stability margins Modulus margin
12 Day 3 (morning): FRF measurements Linear systems Non-parametric identification Open loop Closed loop (direct/indirect) Enhancing estimation quality Autopower/Crosspower Coherence
13 Day 3 (afternoon): Mechatronics Conceptual dynamics & servo control Modelbuilding Servo control basics Key specifications for 0.2 μm lithography Case: stepper concepts
14 Day 4 (morning): Filters PID Lead/Lag General second order Second order notch Low pass filter Phase turning filter Tuning Exercise with SHAPE-IT!
15 Day 4 (afternoon): Tuning Game GO for the highest bandwidth. Winning team gets bottle of wine!
16 Day 5 (morning): Design for performance Waterbed effect Bandwidth definitions High-gain feedback Requirements + disturbance + system => best controller
17 Day 5 (afternoon): Feed forward Feedback vs. Feedforward General feefforward scheme Practical guidelines Hands-on exercise
18 Day 6 (morning): Special topics-1 Printer demo Learning Feedforward + Demo Non-linear identification / FF TEM sample manipulation
19 Day 6 (afternoon): Special topics-2 Motion Control Research MiMo systems Interaction analysis Sequential loop closure MiMo design decoupling model based multivariable control design
20 Sign-up for this training Via the website of our partner The High Tech Institute
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