pacas iecon05 tutorial
TRANSCRIPT
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Servo DrivesState of the Art
and Modern Developments
Prof. Dr.-Ing. J. M. Pacas, Institut fr Leistungselektronik und Elektrische Antriebe,Universitt Siegen
Prof. Dr.-Ing. R. M. Kennel, Lehrstuhl fr elektrische Maschinen und Antriebe,
Bergische Universitt Wuppertal
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 1
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)
Outline
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 2
feed drives
control the position
between working piece
and working tool
main drives
provide
processing power
Typical Machine Tool
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 3
Parallel Kinematics
TriCenter DMT 100
(Deckel Maho)
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 4
feed
drives
axis
Spindle
drives
main
high efficiency
small size
smooth
operation
at low speeds
4 quadrant
operation
high maximum torque
constant maximum torque
speed range < 10.000 rpm
rated power < 20 kW
Characteristics of Servo Drives
high rated/continuous torque
constant maximum power
speed range < 20.000 rpm
rated power < 100 kW
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 5
ECbrushless
DC
SMsynchronous
motor
ASMasynchronous
motor
SM SM
ASM
?
?
DC
1970 ff. 1980 ff. 1990 ff.
Hystory of Motor Types in Servo Drives
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 6
State of the Art: AC Servos
High Speed Spindle
(Siemens) DSD Servo
(Baumller)
High Torque Motor
(Baumller) Spindle Motor
(Franz Kessler)
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 7
Inverters for Servo Drive Applications
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 8
Encoders
Advantages low cost
high accuracy(e. g. by gear ratio)
Disadvantages elastic effects
and back lash
source : ERN-Geber, Heidenhain
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 9
Encoder Technologies
Mebereich
measuring area
Auflsung
resolution
Robustheit
robustness
Massenproduktion
mass production
magnetisch
magnetic
Resolver:
circular
tooth wheel:
point
low
(multipole resolver: 20
Bit)
good bad
optischoptical point
high
(CCD: > 30 Bit)
problematic
(sensitive totemperature
and shock)
very good
(photographicproduction)
kapazitive
capacitive
circular high good good
Too less experience to make knowledge-based statements.
measuring area resolution robustness mass production
magnetic
optical
capacitive
technology
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 10
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Feldschwchung
- -
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M-Regler Strom-Regler
Feld-Regler
Ma-
schinen-
modell
ej
e-j
e-j
M3~
i
u
Encoder
n*
i*q
i*d*
for asynchronous
machines
field weakening field controller
speed
controller
current
controllers
machine
model
for synchronous
machines
AC Servo Drive Control
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 11
Motion Control (e. g. Electronic Gear)
Hauptantrieb
Virtueller
Master
SynchronisierteKommunikation
main drive
Virtual
master Synchronizedcommunication
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 12
Sensorless Control Categories
fundamental models models based on anisotropies
emf-model,
Observer
dq-inductance ...main field
saturation
... rotor slotting
effect
flux
modulation
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 13
Industrial Drives with Sensorless Control
since several years / decades sensorless control is investigated
and published on conferences and magazines
- acceptance in industry, however, is ratherlow
Why ?new ideas and concepts are interesting for industry,
only if they do not result in highercost or highereffort!!!
What does that meanfor industrial drives with sensorless control ?
no additional ormore powerful processors / controllers
no additional hardware oradditional sensors (e. g. voltage sensors) no increased installation effort with respect to parameter adjustments
D i ith Di ti F t
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 14
Drives with Diagnostic Features
Di t ib t d/D t li d C t l
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 15
Distributed/Decentralized Control
SERCOS i t f
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 16
SERCOS interface
AT 2AT MAT mAT 1
t1.1t1.2
t1.Mt2
tScyc
t1.m
MDT
MSTMST
t1.x AT transmission starting time
t2 MDT transmission starting time
tScyc SERCOS cycle time
F t D l t
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Prof. Dr. -Ing. J. M. Pacas, University of Siegen
Prof. Dr. -Ing. R. M. Kennel, Wuppertal University Page 17
Data Exchange/Communication
synchronized communication systems are demanded
for multi axis servo drive systems for high requirements
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