Abstract
In the field of modern production systems, the process-parallel measurement of time-varying process forces and torques for high-level process monitoring is becoming increasingly important. Commonly utilized methods are based on additional sensors placed close to the working area. Unfortunately, this often leads to a higher complexity and additional costs due to the necessity of external hardware. An alternative approach is to evaluate the already available machine-internal signals of the subordinate drive systems. The process forces act on the load side of the machine axes in the form of disturbance forces and influence the drive-internal signals such as motor current or motor speed. To extract these disturbances, additional superimposed forces (e.g. friction and acceleration forces) and the influence of the feedback control as well as the mechanical system must be considered. Therefore, in the present paper, the application of various observer-based approaches for the estimation of load side disturbances on speed- controlled mechatronic drive systems will be examined. The investigations are performed on a simulation model of a speed-controlled machine axis. After an introduction, three different disturbance observers will be presented. Subsequently, the paper describes the structure of the simulation model including its parameterization based on test rig measurements. Afterwards, the performance of the disturbance observers will be investigated and compared taking selected influencing factors like changing controller and inertia parameters into account. The paper closes with a summary and an outlook.
Highlights
In the field of production engineering, the prevailing process forces are a sensitive parameter for the indirect evaluation of the process state and its stability [1]
The application of model-based approaches in the form of disturbance observers is suitable for estimating load side disturbances on speed-controlled mechatronic drive systems
To investigate the individual structures, a simulation model was created and parameterized based on experimental measurements on a drive test rig. It enables the emulation of mechanical systems with variable model order and coupling parameters as well as different settings of the speed controller
Summary
In the field of production engineering, the prevailing process forces are a sensitive parameter for the indirect evaluation of the process state and its stability [1]. Their measurement is realized by installing nearprocess sensors, for example in the form of piezo-based force measuring sensors or by means of capacitive or inductive displacement sensors [2, 3]. In this paper three disturbance observers are examined including a performance evaluation under variation of different influencing factors. The model consists of the mechanical subsystem including effective friction torques and different model orders as well as the control loops for speed and current. Several settings of the speed controller as well as the robustness of the observers under variation of the load side inertia and the elastic coupling between input and output will be investigated
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