Electromechanical servosystems design: theory and its application

Abstract

The major goal of the paper is to present methodologies for design and implementation of advanced digital control laws for electromechanical systems. These systems integrate high-precision mechanisms, actuators, sensors including high-accuracy encoders, high-frequency PWM amplifiers with ICs, and digital signal processors (DSPs). The studied analog-digital (hybrid) systems are applied in many applications. Although many aspects in the analysis and design of electromechanical systems have been examined, and system architectures have been developed, many aspects need to be examined. In particular, digital design must be addressed and researched with the ultimate goal to optimize dynamic performance, improve operating characteristics, and enhance operating envelopes. Advanced electronics hardware is integrated in the electronic development board. This board is designed using robust and efficient architectures in order to guarantee real-time control, diagnostics, analysis, filtering, decision-making, data acquisition and control capabilities. Digital control law design that considers the analog and digital subsystems is the key to attain the desired performance. Fundamental, applied and experimental aspects in the design of digital nonlinear electromechanical systems have not been sufficiently studied. We report a systematic procedure and demonstrate its application to electromechanical systems which integrate permanent-magnet synchronous servomotors with high switching frequency PWM amplifiers controlled by DSPs. Digital tracking control algorithms are designed, analyzed and verified on the Raytheon test-beds. Experiments are reported to analyze the electromechanical systems performance assessing it implementation in high-performance positioning systems.