Scribd
Upload
108 views18 pages

Servo Basico x1

This document discusses servo drives, including their state of the art, components, control methods, and future developments. It describes how servo drives are used in machine tools to control feed axes and provide processing power. Modern servo drives use AC motors and voltage source inverters, with position controlled by encoders. Sensorless control methods are being researched but have not seen wide acceptance due to increased cost and effort. Future developments may include more powerful synchronous motors and further encoder technologies, while sensorless control must not require additional hardware or complex setup.

Uploaded by

Elvis Torres Quispe
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
108 views18 pages

Servo Basico x1

This document discusses servo drives, including their state of the art, components, control methods, and future developments. It describes how servo drives are used in machine tools to control feed axes and provide processing power. Modern servo drives use AC motors and voltage source inverters, with position controlled by encoders. Sensorless control methods are being researched but have not seen wide acceptance due to increased cost and effort. Future developments may include more powerful synchronous motors and further encoder technologies, while sensorless control must not require additional hardware or complex setup.

Uploaded by

Elvis Torres Quispe
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 18

Servo Drives

State of the Art


and Modern Developments

Prof. Dr.-Ing. J. M. Pacas, Institut fr Leistungselektronik und El ektrische Antri ebe,


Univer si tt Si egen
Prof. Dr. -Ing. R. M. Kennel, Lehrstuhl fr elektr ische Maschinen und Antriebe,
Bergische Un iversitt Wuppertal
Outline
General Requirements, State of the Art,
Structure and Components of Servo Drives
Drive Control with Position/Speed Encoder
Motion Control
Drive Control without Position/Speed Encoder

Data Exchange (Communication)

Prof. Dr. -Ing. J. M. Pacas, University of


Typical Machine Tool
feed drives
control the position
between working piece
and working tool

main drives
provide
processing power

Prof. Dr. -Ing. J. M. Pacas, University of


Parallel Kinematics

TriCenter DMT 100


(Deckel Maho)

Prof. Dr. -Ing. J. M. Pacas, University of


Characteristics of Servo Drives
feed high maximum torque

high efficiency constant maximum torque


drives
small size speed range < 10.000 rpm

axis rated power < 20 kW


smooth
Spindle operation high rated/continuous torque
at low speeds
constant maximum power
drives 4 quadrant
speed range < 20.000 rpm
operation
main rated power < 100 kW

Prof. Dr. -Ing. J. M. Pacas, University of


Hystory of Motor Types in Servo Drives

ASM
asynchronous
motor ASM
?
SM ?
DC synchronous SM SM
motor

EC
brushless
DC

1970 ff. 1980 ff. 1990 ff.

Prof. Dr. -Ing. J. M. Pacas, University of


State of the Art: AC Servos

High Speed Spindle


(Siemens) DSD Servo
(Baumller)
High Torque Motor
(Baumller) Spindle Motor
(Franz Kessler)

Prof. Dr. -Ing. J. M. Pacas, University of


Inverters for Servo Drive Applications

Prof. Dr. -Ing. J. M. Pacas, University of


Encoders
Advantages
low cost
high accuracy
(e. g. by gear ratio)

Disadvantages
elastic effects
and back lash

source : ERN-Geber, Heidenhain

Prof. Dr. -Ing. J. M. Pacas, University of


Encoder Technologies
technology Mebereich
measuring area Auflsung
resolution Robustheit
robustness Massenproduktio
mass production
measuring area resolution robustness n
mass production

Resolver:
magnetic
magnetisch circular low good bad
magnetic
tooth wheel: (multipole resolver: 20
point Bit)

problematic very good


optisch high (sensitive to (photographic
optical
optical point temperature production)
(CCD: > 30 Bit) and shock)

Too less experience to make knowledge-based statements.


kapazitive
capacitive
capacitive
circular high good good

Prof. Dr. -Ing. J. M. Pacas, University of


AC Servo Drive Control
speed
M-Regler
current
Strom-
controller controllers
Regler
n* i*q
M
-
* i*d
-
ej
3~
- -
field weakening Feld-Regler
field controller
Feldschwchung
i
Ma-
machine
e -j

schinen- for asynchronous Encoder


modell machines
model u
e-j

for synchronous
machines
Prof. Dr. -Ing. J. M. Pacas, University of
Motion Control (e. g. Electronic Gear)

Virtual
V irtu e lle r Synchronized
S y n c h ro n is ie rte
K o m m u n ik a tio n
communication
Mmaster
a s te r

H main
a u p t a drive
n tr ie b

Prof. Dr. -Ing. J. M. Pacas, University of


Sensorless Control Categories

fundamental models models based on anisotropies

emf-model, flux ... dq-inductance rotor slotting main field ...


Observer modulation effect saturation

Prof. Dr. -Ing. J. M. Pacas, University of


Industrial Drives with Sensorless Control
since several years / decades sensorless control is investigated
and published on conferences and magazines
- acceptance in industry, however, is rather low

Why ?
new ideas and concepts are interesting for industry,
only if they do not result in higher cost or higher effort!!!
What does that mean
for industrial drives with sensorless control ?

no additional or more powerful processors / controllers


no additional hardware or additional sensors (e. g. voltage sensors)
no increased installation effort with respect to parameter adjustments

Prof. Dr. -Ing. J. M. Pacas, University of


Drives with Diagnostic Features

Prof. Dr. -Ing. J. M. Pacas, University of


Distributed/Decentralized Control

Prof. Dr. -Ing. J. M. Pacas, University of


SERCOS interface

MDT
MST AT 1 AT 2 AT m AT M MST

t1.1
t1.2
t1.m
t1.M
t2
tScyc

t1.x AT transmission starting time


t2 MDT transmission starting time
tScyc SERCOS cycle time

Prof. Dr. -Ing. J. M. Pacas, University of


Future Developments
Motors (Actors)
synchronous motors with surface mounted permanent magnets as a standard
- different solutions in special applications only (for cost reasons)

Signal Processing
further developments on speed/position encoders to be expected
sensorless/encoderless control only, if
no additional hardware effort (processors and/or sensors)
no parameter dependencies during operation

Data Exchange/Communication
synchronized communication systems are demanded
for multi axis servo drive systems for high requirements

Prof. Dr. -Ing. J. M. Pacas, University of

You might also like