Filtering servo motor- Reducing velocity tracking error

•Transferir como PPTX, PDF•

1 gostou•1,116 visualizações

anusheel nahar

Tecnologia

Servo Motor Drive Velocity Tracking
Reducing tracking error

www.controltrix.com

copyright 2011 controltrix corp www. controltrix.com

Framework
PMSM vector control drive

Velocity Feedback:

• Encoder with finite pulses/rev (e.g. 10000)

Current feedback:

• LEM sensor + onchip 12 bit ADC +/-15A full range

Voltage feedback:

• DC Voltage sense + onchip 12 bit ADC 800 V full range

copyright 2011 controltrix corp www. controltrix.com

Framework…
Application:

• Machine tool industry

Objective:

• Control motor velocity as precisely (from 0 to 100 % or more
rated speed)

• Under external disturbances

copyright 2011 controltrix corp www. controltrix.com

Challenges at low speed operation
• Limit abs. err. @ Slow velocities (small value  large % err)

• Limit Rel. err. @ faster velocities (small %  large err)

• Rel. and Abs velocity tracking error

• Abs err. required approx 10 rev/day

copyright 2011 controltrix corp www. controltrix.com

Limit factors
1. ADC current resolution
2. Velocity feedback resolution
3. Dead time
4. Inductance
5. Back emf distortion
6. Residual encoder offset

copyright 2011 controltrix corp www. controltrix.com

Limit factors.
ADC Current feedback res  limits torque impulse res.
• Kt = torque constant = 0.75 Nm/A
• Ts = sampling time = 1 ms
• J = inertia = 0.00017 Kgm2
• I = ADC current resolution = 10 mA

T = Kt. I
Min abs velocity resolution = Ts. T / J approx 20 -50 rev/day

copyright 2011 controltrix corp www. controltrix.com

Limit factors..
Mitigation :

• Oversampling and averaging to reduce quantization noise

Disadvantage :

• ADC sampling frequency and triggering limitations

copyright 2011 controltrix corp www. controltrix.com

Limit factors…
Velocity feedback resolution
• Fixed time sampling (# pulses in 1 sample period)
• 1 pulse/1ms = 6 rev per min
• @ High velocities less troublesome
• @ Low velocities major problem

copyright 2011 controltrix corp www. controltrix.com

Limit factors….
Mitigation :
• Fixed angular distance/measured time
• Limited by processor timer resolution
• @ High velocities more trouble some
• @ Low velocity is OK
Disadvantage :
• Non linear / non time invariant dynamics
(LTI analysis not valid)

copyright 2011 controltrix corp www. controltrix.com

Limit factors…..
Deadtime
• 2 - 5% duty is wasted in deadtime
• Leads to 6 step voltage to be applied @ electrical freq.
• Non linear dynamics
• Distorts dynamics @ 6X electrical frequency + harmonics
( open loop ripple torque)

copyright 2011 controltrix corp www. controltrix.com

Limit factors……
Inductance
• Inductance varies with current due to saturation
• Distorts dynamics @ 6X electrical frequency + harmonics
( open loop ripple torque)

copyright 2011 controltrix corp www. controltrix.com

Limit factors…….
Back emf distortion
• Back emf waveform is never ideal sine wave.
• Some distortion always present
• Distorts dynamics @ 6X electrical frequency + harmonics
( open loop ripple torque)

copyright 2011 controltrix corp www. controltrix.com

Limit factors……..
Residual encoder offset
• Leads to direction dependent performance
• The angular offset between encoder 0 and motor 0 position is
always an estimate. Some residual always remain

copyright 2011 controltrix corp www. controltrix.com

Limit factors………
Static friction
• Non linear direction dependent component near zero velocity

Note: 3 – 4 – 5 – 6 – 7 are not easy to mitigate unless using
repetitive control techniques

copyright 2011 controltrix corp www. controltrix.com

Other considerations:
• Non linear dynamics with fixed distance variable time sampling
• Dynamics change with velocity

copyright 2011 controltrix corp www. controltrix.com

Proposed method
• Kalman filter based data fusion
• Motor Current and encoder data combined to estimate
instantaneous velocity
• Estimate velocity @ current sampling freq. approx (20KHz)
• No gain changes

copyright 2011 controltrix corp www. controltrix.com

Proposed method.
• No change in sampling freq. based on velocity
(only pulses per sampling period measurement used)
• Zero velocity control
• Abs velocity resolution limited by current feedback
• Relative resolution can be arbitrarily reduced (subject to
abs limit) trade off against dynamic performance
• Other limit factors automatically taken care

copyright 2011 controltrix corp www. controltrix.com

Simulation results
• Typ. velocity ripple @ 300 rad/s
• Abs err = 0.004 rad/s = 57 rev/day
• Rel. err. = 13ppm

copyright 2011 controltrix corp www. controltrix.com

copyright 2011 controltrix corp www. controltrix.com

Extrapolated estimated results
(simulation time is very long at slow speeds)

• @ low rpm (6 rpm)
(abs error/ripple estimate based on current quantization)
= 0.0002 rad/s = 3 rev/day
• Rel. err. = 100 ppm

copyright 2011 controltrix corp www. controltrix.com

Thank You
consulting@controltrix.com

copyright 2011 controltrix corp www. controltrix.com

Mais conteúdo relacionado

Destaque

Shimpo circulute 3000_specsheet

Electromate

LG L Series Market Research and Consumer Behaviour Analysis

Juan Mejia

Closed loop-planar-servo-motor

Elmo Motion Control

Audi Auto Market Survey Report

Nivin Vinoi

This session provides insight into the operation of electric motor drive systems. Topics include electric motor operation and construction, motor control strategies, feedback sensors and circuits, power and isolation, and challenges of designing highly efficient motor control systems. A new high performance servo control FMC board will be introduced in the presentation, which provides an efficient motor control solution for different types of electric motors, addresses power and isolation challenges, and provides accurate measurement of motor feedback signals and increased control flexibility due to FPGA interfacing capabilities. The motor control hardware platform will be used to demonstrate rapid prototyping of motor control algorithms using Xilinx base platforms and the MathWorks development and simulation tools.

Motor Control - VE2013

Analog Devices, Inc.

Electric Servo Motor

Gello Hembz

LG Electronics: Global Strategy in Emerging Markets (Case Analysis)

Kaziranga University.

Servo motor and servo drive

Sai Kumar

Strategy analysis of lg

sarthak omer

Bmw

Udayan Sikdar

BMW Case Study Analysis

Victoria Gnatoka

Solar tracker

harshi1990

Audi power point presentation (2)

Mishal Nazir

BMW Market Analysis

TAM Akademie GmbH

Destaque (14)

Shimpo circulute 3000_specsheet

LG L Series Market Research and Consumer Behaviour Analysis

Closed loop-planar-servo-motor

Audi Auto Market Survey Report

Motor Control - VE2013

Electric Servo Motor

LG Electronics: Global Strategy in Emerging Markets (Case Analysis)

Servo motor and servo drive

Strategy analysis of lg

Bmw

BMW Case Study Analysis

Solar tracker

Audi power point presentation (2)

BMW Market Analysis

Semelhante a Filtering servo motor- Reducing velocity tracking error

Angular motion tracking for gaming applications using MEMS (Micro electro-mechanical systems) devices. MEMS sensors are well recognized as the key building blocks for implementing disruptive applications in consumer devices. MEMS Accelerometer and MEMS Gyroscope are the two simplest MEMS devices used here. Capable of measuring angular rates around one or more axes, gyroscopes represent a fitting complement to MEMS accelerometers. Thanks to the combination of accelerometers and gyroscopes it is possible to track and to capture complete movements in a three-dimensional space.

Handheld device motion tracking using MEMS gyros and accelerometer

controltrix

Handheld device motion tracking using MEMS gyros and accelerometer

anusheel nahar

Bldc motor drive system

controltrix

Bldc motor drive system

anusheel nahar

Trajectory generation for Servo motor drives

controltrix

Digitally controlled power supply - a perspective on slope compensation

anusheel nahar

Power Factor is a measure of how efficiently electrical power is consumed. In the ideal world Power Factor would be unity (or 1). Unfortunately in the real world Power Factor is reduced by highly inductive loads to 0.7 or less. This induction is caused by equipment such as lightly loaded electric motors and fluorescent lighting ballasts and welding sets, etc. Three phase power factor can be corrected using different approaches like sine wave control, vector control, single cycle control or Vienne Bridge Rectifier.

3 Phase Power Factor Correction (PFC)

controltrix

3 Phase Power Factor Correction (PFC)

anusheel nahar

High frequency Sine wave inverter -Challenges in voltage feedback

controltrix

High frequency Sine wave inverter -Challenges in voltage feedback

anusheel nahar

Electro Mechanical v/s Numerical Relay

SWAPNIL GHAISAS

Trixboxbeta - One stop solution for all your design problems

controltrix

ommon motion systems use three types of control methods. They are position control, velocity control and torque control. The majority of Newport’s motion systems use position control. This type of control moves the load from one known fixed position to another known fixed position. Feedback, or closed-loop positioning, is important for precise positioning. Velocity control moves the load continuously for a certain time interval or moves the load from one place to another at a prescribed velocity. Newport’s systems use both encoder and tachometer feedback to regulate velocity. Torque control measures the current applied to a motor with a known torque coefficient in order to develop a known constant torque. Newport’s motion systems do not employ this method of control.

Motion Control Theory. servomotor

Nelson Izaguirre

Trajectory generation for Servo motor drives

anusheel nahar

Low power

preeti banra

auto-reclosure

sandeepkmm22

Global Positioning System ++_Improved GPS using sensor data fusion

anusheel nahar

Global Positioning System ++ : Improved GPS using sensor data fusion

controltrix

It is estimated that electrical drives and other rotating equipment consume about 50% of the total electrical energy generated in the world today. Other estimates are that pumps, fans, blowers and compressors consume as much as 65% of this total, a large proportion of these applications are powered by fixed or constant speed drivers whose load demands often fluctuate. This poor match of speed and demand results in considerable wasted energy and significantly increased wear of system components. Variable speed drive technology is a cost effective method to match driver speed to load demands and is an excellent opportunity to reduce operating costs and improve overall efficiencies in your application. This workshop gives you a fundamental understanding of the installation, operation and troubleshooting of variable speed drives. Typical practical applications of VSDs in process control and materials handling, such as those for pumping, ventilation, conveyers, compressors and hoists are covered in detail. You will learn the basic setup of parameters, control wiring and safety precautions in installing a VSD. The various drive features such as operating modes, braking types, automatic restart and many others will be discussed in detail. You will learn the four basic requirements for a VSD to function properly with emphasis on typical controller faults, their causes and how they can be repaired. The concluding section of the workshop gives you the fundamental tools in troubleshooting VSDs confidently and effectively. Even though the focus of the workshop is on the direct application of this technology, you will also gain a thorough understanding of the problems that can be introduced by VSDs such as harmonics, electrostatic discharge and EMC/EMI problems. MORE INFORMATION: http://www.idc-online.com/content/practical-variable-speed-drives-instrumentation-and-control-systems-38

Practical Variable Speed Drives for Instrumentation and Control Systems

Living Online

Servo Drive for Top Performance | ElmoMC

Elmo Motion Control

Semelhante a Filtering servo motor- Reducing velocity tracking error (20)

Handheld device motion tracking using MEMS gyros and accelerometer

Bldc motor drive system

Trajectory generation for Servo motor drives

Digitally controlled power supply - a perspective on slope compensation

3 Phase Power Factor Correction (PFC)

High frequency Sine wave inverter -Challenges in voltage feedback

Electro Mechanical v/s Numerical Relay

Trixboxbeta - One stop solution for all your design problems

Motion Control Theory. servomotor

Trajectory generation for Servo motor drives

Low power

auto-reclosure

Global Positioning System ++_Improved GPS using sensor data fusion

Global Positioning System ++ : Improved GPS using sensor data fusion

Practical Variable Speed Drives for Instrumentation and Control Systems

Servo Drive for Top Performance | ElmoMC

Último

MySQL Webinar, presented on the 25th of April, 2024. Summary: MySQL solutions enable the deployment of diverse Database Architectures tailored to specific needs, including High Availability, Disaster Recovery, and Read Scale-Out. With MySQL Shell's AdminAPI, administrators can seamlessly set up, manage, and monitor these solutions, ensuring efficiency and ease of use in their administration. MySQL Router, on the other hand, provides transparent routing from the application traffic to the backend servers in the architectures, requiring minimal configuration. Completely built in-house and supported by Oracle, these solutions have been adopted by enterprises of all sizes for their business-critical applications. In this presentation, we'll delve into various database architecture solutions to help you choose the right one based on your business requirements. Focusing on technical details and the latest features to maximize the potential of these solutions.

Mastering MySQL Database Architecture: Deep Dive into MySQL Shell and MySQL R...

Miguel Araújo

Effective data discovery is crucial for maintaining compliance and mitigating risks in today's rapidly evolving privacy landscape. However, traditional manual approaches often struggle to keep pace with the growing volume and complexity of data. Join us for an insightful webinar where industry leaders from TrustArc and Privya will share their expertise on leveraging AI-powered solutions to revolutionize data discovery. You'll learn how to: - Effortlessly maintain a comprehensive, up-to-date data inventory - Harness code scanning insights to gain complete visibility into data flows leveraging the advantages of code scanning over DB scanning - Simplify compliance by leveraging Privya's integration with TrustArc - Implement proven strategies to mitigate third-party risks Our panel of experts will discuss real-world case studies and share practical strategies for overcoming common data discovery challenges. They'll also explore the latest trends and innovations in AI-driven data management, and how these technologies can help organizations stay ahead of the curve in an ever-changing privacy landscape.

TrustArc Webinar - Unlock the Power of AI-Driven Data Discovery

TrustArc

How to Troubleshoot Apps for the Modern Connected Worker

ThousandEyes

This presentations targets students or working professionals. You may know Google for search, YouTube, Android, Chrome, and Gmail, but did you know Google has many developer tools, platforms & APIs? This comprehensive yet still high-level overview outlines the most impactful tools for where to run your code, store & analyze your data. It will also inspire you as to what's possible. This talk is 50 minutes in length.

Powerful Google developer tools for immediate impact! (2023-24 C)

wesley chun

What is a good lead in your organisation? Which leads are priority? What happens to leads? When sales and marketing give different answers to these questions, or perhaps aren't sure of the answers at all, frustrations build and opportunities are left on the table. Join us for an illuminating session with Cian McLoughlin, HubSpot Principal Customer Success Manager, as we look at that crucial piece of the customer journey in which leads are transferred from marketing to sales.

04-2024-HHUG-Sales-and-Marketing-Alignment.pptx

HampshireHUG

Enterprise Knowledge’s Urmi Majumder, Principal Data Architecture Consultant, and Fernando Aguilar Islas, Senior Data Science Consultant, presented "Driving Behavioral Change for Information Management through Data-Driven Green Strategy" on March 27, 2024 at Enterprise Data World (EDW) in Orlando, Florida. In this presentation, Urmi and Fernando discussed a case study describing how the information management division in a large supply chain organization drove user behavior change through awareness of the carbon footprint of their duplicated and near-duplicated content, identified via advanced data analytics. Check out their presentation to gain valuable perspectives on utilizing data-driven strategies to influence positive behavioral shifts and support sustainability initiatives within your organization. In this session, participants gained answers to the following questions: - What is a Green Information Management (IM) Strategy, and why should you have one? - How can Artificial Intelligence (AI) and Machine Learning (ML) support your Green IM Strategy through content deduplication? - How can an organization use insights into their data to influence employee behavior for IM? - How can you reap additional benefits from content reduction that go beyond Green IM?

Driving Behavioral Change for Information Management through Data-Driven Gree...

Enterprise Knowledge

Building Digital Trust in a Digital Economy Veronica Tan, Director - Cyber Security Agency of Singapore Apidays Singapore 2024: Connecting Customers, Business and Technology (April 17 & 18, 2024) ------ Check out our conferences at https://www.apidays.global/ Do you want to sponsor or talk at one of our conferences? https://apidays.typeform.com/to/ILJeAaV8 Learn more on APIscene, the global media made by the community for the community: https://www.apiscene.io Explore the API ecosystem with the API Landscape: https://apilandscape.apiscene.io/

Apidays Singapore 2024 - Building Digital Trust in a Digital Economy by Veron...

apidays

GenCyber Cyber Security Day Presentation

Michael W. Hawkins

Created by Mozilla Research in 2012 and now part of Linux Foundation Europe, the Servo project is an experimental rendering engine written in Rust. It combines memory safety and concurrency to create an independent, modular, and embeddable rendering engine that adheres to web standards. Stewardship of Servo moved from Mozilla Research to the Linux Foundation in 2020, where its mission remains unchanged. After some slow years, in 2023 there has been renewed activity on the project, with a roadmap now focused on improving the engine’s CSS 2 conformance, exploring Android support, and making Servo a practical embeddable rendering engine. In this presentation, Rakhi Sharma reviews the status of the project, our recent developments in 2023, our collaboration with Tauri to make Servo an easy-to-use embeddable rendering engine, and our plans for the future to make Servo an alternative web rendering engine for the embedded devices industry. (c) Embedded Open Source Summit 2024 April 16-18, 2024 Seattle, Washington (US) https://events.linuxfoundation.org/embedded-open-source-summit/ https://ossna2024.sched.com/event/1aBNF/a-year-of-servo-reboot-where-are-we-now-rakhi-sharma-igalia

A Year of the Servo Reboot: Where Are We Now?

Igalia

2024: Domino Containers - The Next Step. News from the Domino Container commu...

Martijn de Jong

The value of a flexible API Management solution for Open Banking Steve Melan, Manager for IT Innovation and Architecture - State's and Saving's Bank of Luxembourg Apidays New York 2024: The API Economy in the AI Era (April 30 & May 1, 2024) ------ Check out our conferences at https://www.apidays.global/ Do you want to sponsor or talk at one of our conferences? https://apidays.typeform.com/to/ILJeAaV8 Learn more on APIscene, the global media made by the community for the community: https://www.apiscene.io Explore the API ecosystem with the API Landscape: https://apilandscape.apiscene.io/

Apidays New York 2024 - The value of a flexible API Management solution for O...

apidays

presentation ICT roal in 21st century education

jfdjdjcjdnsjd

Data Cloud, More than a CDP by Matt Robison

Anna Loughnan Colquhoun

[2024]Digital Global Overview Report 2024 Meltwater.pdf

hans926745

Tech Trends Report 2024 Future Today Institute.pdf

hans926745

The 7 Things I Know About Cyber Security After 25 Years | April 2024

Rafal Los

Advantages of Hiring UIUX Design Service Providers for Your Business

Pixlogix Infotech

Real Time Object Detection Using Open CV

Khem

This presentation explores the impact of HTML injection attacks on web applications, detailing how attackers exploit vulnerabilities to inject malicious code into web pages. Learn about the potential consequences of such attacks and discover effective mitigation strategies to protect your web applications from HTML injection vulnerabilities. for more information visit https://bostoninstituteofanalytics.org/category/cyber-security-ethical-hacking/

HTML Injection Attacks: Impact and Mitigation Strategies

Boston Institute of Analytics

Scaling API-first – The story of a global engineering organization

Radu Cotescu

Filtering servo motor- Reducing velocity tracking error

2. Framework PMSM vector control drive Velocity Feedback: • Encoder with finite pulses/rev (e.g. 10000) Current feedback: • LEM sensor + onchip 12 bit ADC +/-15A full range Voltage feedback: • DC Voltage sense + onchip 12 bit ADC 800 V full range copyright 2011 controltrix corp www. controltrix.com

3. Framework… Application: • Machine tool industry Objective: • Control motor velocity as precisely (from 0 to 100 % or more rated speed) • Under external disturbances copyright 2011 controltrix corp www. controltrix.com

4. Challenges at low speed operation • Limit abs. err. @ Slow velocities (small value  large % err) • Limit Rel. err. @ faster velocities (small %  large err) • Rel. and Abs velocity tracking error • Abs err. required approx 10 rev/day copyright 2011 controltrix corp www. controltrix.com

5. Limit factors 1. ADC current resolution 2. Velocity feedback resolution 3. Dead time 4. Inductance 5. Back emf distortion 6. Residual encoder offset copyright 2011 controltrix corp www. controltrix.com

6. Limit factors. ADC Current feedback res  limits torque impulse res. • Kt = torque constant = 0.75 Nm/A • Ts = sampling time = 1 ms • J = inertia = 0.00017 Kgm2 • I = ADC current resolution = 10 mA T = Kt. I Min abs velocity resolution = Ts. T / J approx 20 -50 rev/day copyright 2011 controltrix corp www. controltrix.com

7. Limit factors.. Mitigation : • Oversampling and averaging to reduce quantization noise Disadvantage : • ADC sampling frequency and triggering limitations copyright 2011 controltrix corp www. controltrix.com

8. Limit factors… Velocity feedback resolution • Fixed time sampling (# pulses in 1 sample period) • 1 pulse/1ms = 6 rev per min • @ High velocities less troublesome • @ Low velocities major problem copyright 2011 controltrix corp www. controltrix.com

9. Limit factors…. Mitigation : • Fixed angular distance/measured time • Limited by processor timer resolution • @ High velocities more trouble some • @ Low velocity is OK Disadvantage : • Non linear / non time invariant dynamics (LTI analysis not valid) copyright 2011 controltrix corp www. controltrix.com

10. Limit factors….. Deadtime • 2 - 5% duty is wasted in deadtime • Leads to 6 step voltage to be applied @ electrical freq. • Non linear dynamics • Distorts dynamics @ 6X electrical frequency + harmonics ( open loop ripple torque) copyright 2011 controltrix corp www. controltrix.com

11. Limit factors…… Inductance • Inductance varies with current due to saturation • Distorts dynamics @ 6X electrical frequency + harmonics ( open loop ripple torque) copyright 2011 controltrix corp www. controltrix.com

12. Limit factors……. Back emf distortion • Back emf waveform is never ideal sine wave. • Some distortion always present • Distorts dynamics @ 6X electrical frequency + harmonics ( open loop ripple torque) copyright 2011 controltrix corp www. controltrix.com

13. Limit factors…….. Residual encoder offset • Leads to direction dependent performance • The angular offset between encoder 0 and motor 0 position is always an estimate. Some residual always remain copyright 2011 controltrix corp www. controltrix.com

14. Limit factors……… Static friction • Non linear direction dependent component near zero velocity Note: 3 – 4 – 5 – 6 – 7 are not easy to mitigate unless using repetitive control techniques copyright 2011 controltrix corp www. controltrix.com

16. Proposed method • Kalman filter based data fusion • Motor Current and encoder data combined to estimate instantaneous velocity • Estimate velocity @ current sampling freq. approx (20KHz) • No gain changes copyright 2011 controltrix corp www. controltrix.com

17. Proposed method. • No change in sampling freq. based on velocity (only pulses per sampling period measurement used) • Zero velocity control • Abs velocity resolution limited by current feedback • Relative resolution can be arbitrarily reduced (subject to abs limit) trade off against dynamic performance • Other limit factors automatically taken care copyright 2011 controltrix corp www. controltrix.com

20. Extrapolated estimated results (simulation time is very long at slow speeds) • @ low rpm (6 rpm) (abs error/ripple estimate based on current quantization) = 0.0002 rad/s = 3 rev/day • Rel. err. = 100 ppm copyright 2011 controltrix corp www. controltrix.com

Filtering servo motor- Reducing velocity tracking error

Recomendados

Recomendados

Mais conteúdo relacionado

Destaque

Destaque (14)

Semelhante a Filtering servo motor- Reducing velocity tracking error

Semelhante a Filtering servo motor- Reducing velocity tracking error (20)

Último

Último (20)

Filtering servo motor- Reducing velocity tracking error