Stabilization of Motion Trajectories of Servo Drive on Varying Parameters of Control Object Conditions

摘要

Stability of characteristics of servo drive performing programmed motions in defined working space can be considered as one of most important indices of its performance. In the case when parameters of moved object such as mass or inertia moment are changing, conventional solutions based on multiloop hierarchical structure application can not ensure of sufficient stability and repeatability of motion trajectories Because the sources influencing trajectories deflection or provoking appearance of static error of positioning of servo drive are located in the speed regulation subsystem, necessary actions preventing these shortcomings should be undertaken by selecting structure and parameters of the speed regulation subsystem.