Master-Slave State Space Control for Large Milling Rotary Tables

摘要

This contribution is concerned with multidrive servo control of very large rotary tables for machinerntools, where flexible gears limit the achievable feedback control performance. State space controlrnextensions, that are now available for servo axis controllers, can improve the performance significantlyrnbut increase the design and commissioning complexity. After an overview of state-of-the-art controlrnconcepts, a simplified mathematical model for efficient commissioning is derived. The design issuesrnfor successful application are discussed. The achievable performance for multidrive servo axes isrnelucidated by an exemplary milling machine tool rotary table.