Industrial Servo Control Systems: Fundamentals And Applications, Revised And Expanded

INDUSTRIAL SERVO CONTROL SYSTEMS FUNDAMENTALS AND APPLICATIONS......Page 1
PREFACE......Page 4
CHAPTER 4 MACHINE SERVO DRIVES......Page 7
CHAPTER 10 PERFORMANCE CRITERIA......Page 8
GLOSSARY......Page 9
BIBLIOGRAPHY......Page 10
CONTENTS......Page 0
PART I BASICS OF INDUSTRIAL SERVO DRIVES......Page 11
CHAPTER 1 THE WHAT AND WHY OF A MACHINE SERVO......Page 12
JUST WHAT ARE SOME OF THE BENEFITS OF A SERVO SYSTEM?......Page 18
2.1 EVOLUTION OF SERVO DRIVES......Page 20
2.2 CLASSIFICATION OF DRIVES......Page 21
3.2 ACTUATORS—ELECTRIC......Page 25
3.3 ACTUATORS—HYDRAULIC......Page 29
3.4 AMPLIFIERS—ELECTRIC......Page 33
3.5 AMPLIFIERS—HYDRAULIC......Page 37
3.6 TRANSDUCERS (FEEDBACK)......Page 39
4.1 TYPES OF DRIVES......Page 46
4.2 FEED DRIVE PERFORMANCE......Page 49
5.1 TECHNIQUES BY DRIVE......Page 55
CLOSED VELOCITY LOOP......Page 57
OPEN LOOP......Page 58
CLOSED POSITION LOOP......Page 59
POOR SURFACE FINISH......Page 60
NULL HUNT......Page 62
LOW STIFFNESS......Page 63
6.1 ADVANCES IN TECHNOLOGY......Page 65
6.2 PARAMETERS FOR MAKING APPLICATION CHOICES......Page 67
PART II ADVANCED APPLICATION OF INDUSTRIAL SERVO DRIVES......Page 73
7.1 INTRODUCTION......Page 74
7.2 PHYSICAL SYSTEM ANALOGS, QUANTITIES, AND VECTORS......Page 75
7.3 DIFFERENTIAL EQUATIONS FOR PHYSICAL SYSTEMS......Page 76
7.4 ELECTRIC SERVO MOTOR TRANSFER FUNCTIONS AND TIME CONSTANTS......Page 86
7.5 TRANSPORT LAG TRANSFER FUNCTION......Page 94
7.6 SERVO VALVE TRANSFER FUNCTION......Page 96
7.7 HYDRAULIC SERVO MOTOR CHARACTERISTICS......Page 97
7.8 GENERAL TRANSFER CHARACTERISTICS......Page 98
8.1 SERVO BLOCK DIAGRAMS......Page 103
8.2 FREQUENCY-RESPONSE CHARACTERISTICS AND CONSTRUCTION OF APPROXIMATE (BODE) FREQUENCY CHARTS......Page 112
8.3 NICHOLS CHARTS......Page 121
8.4 SERVO ANALYSIS TECHNIQUES......Page 124
8.5 SERVO COMPENSATION......Page 129
9.1 DEFINITION OF INDEXES OF PERFORMANCE FOR SERVO DRIVES......Page 140
9.2 INDEXES OF PERFORMANCE FOR ELECTRIC AND HYDRAULIC DRIVES......Page 143
SUMMARY......Page 154
10.1 PERCENT REGULATION......Page 156
10.2 SERVO SYSTEM RESPONSES......Page 160
11.1 DEAD-ZONE NONLINEARITY......Page 163
11.2 CHANGE-IN-GAIN NONLINEARITY......Page 164
11.3 STRUCTURAL RESONANCES......Page 166
11.4 FREQUENCY SELECTIVE FEEDBACK......Page 176
11.5 FEEDFORWARD CONTROL......Page 181
MACHINE FEED DRIVE CONSIDERATIONS FOR RESOLVER FEEDBACK......Page 187
12.2 BALL SCREW MECHANICAL RESONANCES AND REFLECTED INERTIAS FOR MACHINE DRIVES......Page 188
OTHER RESONANCE CONSIDERATIONS......Page 192
RE.ECTED INERTIAS FOR MACHINE DRIVES......Page 193
RE.ECTED MACHINE SLIDE INERTIA......Page 196
RE.ECTED DRIVE SCREW INERTIA......Page 198
PULLEY INERTIAS......Page 200
12.3 DRIVE STIFFNESS......Page 207
HYDRAULIC SERVO-DRIVE STIFFNESS WITH DIRECT FEEDBACK......Page 210
LINEAR ELECTRIC SERVO-DRIVE STIFFNESS WITH RESOLVER FEEDBACK AT THE DRIVE MOTOR......Page 220
DRIVE STIFFNESS FOR THREE-PHASE, HALF-WAVE SCR DRIVE AMPLI.ERS USING AN INNER CURRENT LOOP......Page 225
12.4 DRIVE RESOLUTION......Page 231
DRIVE RESOLUTION FOR ELECTRIC DRIVES......Page 233
12.5 DRIVE ACCELERATION......Page 236
‘‘S’’ CURVE TYPE OF ACCELERATION......Page 242
12.6 DRIVE SPEED CONSIDERATIONS......Page 244
BALL SCREW RESONANCES......Page 245
12.7 DRIVE RATIO CONSIDERATIONS......Page 246
MINIMUM ACCELERATION TIME......Page 248
12.8 DRIVE THRUST/TORQUE AND FRICTION CONSIDERATIONS......Page 250
12.9 DRIVE DUTY CYCLES......Page 254
13.1 INTRODUCTION......Page 257
13.2 HYDRAULIC DRIVE SIZING......Page 259
HYDRAULIC DRIVE SIZING......Page 260
13.3 ELECTRIC DRIVE SIZING......Page 268
ELECTRIC DRIVE SIZING......Page 271
14.1 MOTOR AND CURRENT LOOP......Page 278
14.2 MOTOR/CURRENT LOOP AND POSITION LOOP......Page 284
14.3 MOTOR/CURRENT LOOP WITH A VELOCITY LOOP......Page 286
14.4 PI COMPENSATION......Page 287
14.5 POSITION SERVO LOOP COMPENSATION......Page 294
15.2 SIMULATION FUNDAMENTALS......Page 305
SIMULATION AND THE LAPLACE TRANSFORM......Page 307
SUMMARY OF SIMULATION EXAMPLES......Page 312
15.3 MACHINE SIMULATION TECHNIQUES TO PREDICT PERFORMANCE*......Page 315
SIMULATING THE SERVO PLANT......Page 318
SIMULATING THE COMPLETE SERVO DRIVE......Page 320
RESPONSE TO A STEP INPUT IN VELOCITY......Page 323
RESPONSE TO A STEP INPUT IN POSITION......Page 326
15.4 OTHER SIMULATION SOFTWARE......Page 334
CHAPTER 16 CONCLUSION......Page 340
APPENDIX HYDRAULIC DRIVE AND ELECTRIC DRIVE-SIZING FORMS......Page 342
2. ESTABLISH THE NO-LOAD FRICTION FORCE ¼ FF .......Page 343
6. DRIVE ACCELERATION.......Page 344
7. TORQUE AT MAXIMUM ACCELERATION.......Page 345
11. SUPPLY PRESSURE NEEDED.......Page 346
14. MAXIMUM ACCELERATING TORQUE TA (LB-IN.).......Page 347
17. HYDRAULIC DAMPING FACTOR. ......... R......Page 348
3. TORQUE REQUIREMENTS AT THE DRIVE MOTOR.......Page 350
4. TOTAL DRIVE MOTOR TORQUE REQUIRED MUST BE DERATED ACCORDING TO THE AMPLI.ER USED.......Page 351
7. TORQUE FOR MAXIMUM ACCELERATION (BASED ON EXPONENTIAL RESPONSE TO A TRAVERSE RATE STEP INPUT OF VELOCITY).......Page 352
10. MAXIMUM TORQUE¼ IN.-LB FROM MOTOR CURVES AT TRAVERSE RPM.......Page 353
12. MOTOR TIME CONSTANTS.......Page 354
13. MOTOR TRANSFER FUNCTION.......Page 355
GLOSSARY......Page 356
BIBLIOGRAPHY......Page 361