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Course 16: |
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DESIGNING OF MOTION CONTROL ALGORITHMS |
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HOURS: 7.0 |
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SCOPE:
Precision motion control utilizes mathematical/logical algorithms in three key areas: trajectory generation, feedback control, and motor phase commutation. This course covers the key issues in designing or evaluating algorithms in these areas. |
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OUTLINE:
- Trajectory Generation: What we want the system to do.
- Motion Planning: Computing equations of motion
- Motion Update (Interpolation): Solving equations of motion
- Interpolation equation order: linear, quadratic, cubic
- point-to-point move optimization
- Path planning and contouring
- Inverse kinematics
- Coordination vs. master-slave trade-offs
- Master-slave techniques: electronic gearing and cams
- Feedback Control: Making the system do what we want
- Closed-loop vs. "open-loop" comtrol
- Digital vs. analog implementations
- The three loops: position, velocity, and current
- PID vs. lead-lag filters
- Feedforward control
- Notch filters
- Motor Phase Communtation: Directing current through the motor
- The need for commutation
- Mechanical vs. hardware vs. software commutation
- Drive based vs. controller-based commutation
- "Six-step" vs sinusoidal commutation
- Servo motor commutation (synchronous)
- AC induction motor commutation: vector control
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SAMPLE EXAM QUESTIONS: Click on the following links for sample of CMCS Fundamental Exam questions covered by this course:
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Page Revised: July 14, 2003 |
