Motion Control Systems

Velocity Command Velocity Amplifier

Current Command

Power Amplifier

Current Feedback

M
Motor

Velocity Position Feedback

TECHOMETER/ ENCODER

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Elements of Motion Control Systems

Closed-loop System
POSITION COMMAND

HOST COMPUTER/ SOFTWARE TOOLS

MOTION CONTROLLER

V
AMPLIFIER

I
MOTOR

Theta

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POSITION FEEDBACK

POSITION SENSOR ENCODER

POSITION

Functional Elements
FROM HOST COMPUTER

COMMUNICATION CONTROLLER

R MOTION PROFILE

PID Controller

DAC

AMP

POSITION DECODER

M
MOTOR

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SENSOR

Controller Tasks
Generating Reference position R Following the generated Position Communicates with Host Computer to receive commands via various bus types: RS232, SERCOS etc.
These two tasks are performed independently

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Host Computer
Motion requirements are specified through:
Distance Speed Acceleration Rate Deceleration Rate
Motion Controller

Constructs Continuous Trajectory

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Example Motion Profiles

Velocity Profile
Velocity 100,000

150 ms divided equally between: Acceleration Slew Deceleration Slew Velocity= 100,000 counts/sec These parameters are specified by the host computer. In response to the velocity profile, the motion controller generates the reference function R(t) (Position Vs Time)

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50

100

150

Time (ms)

R(t)-Response Position Profile

Velocity Profile
Position 100,000

Motion Controller

Position Profile

7500

2500
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Time (ms)

 Next major task is to follow reference function

FROM HOST COMPUTER

COMMUNICATION CONTROLLER

The decoded position signal C is compared with the reference signal R. The Position Error E, to a minimum without causing oscillation
R E

MOTION PROFILE

PID Controller

DAC

AMP

POSITION DECODER

M
MOTOR

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SENSOR

Elements of an Amplifier (Position/Velocity) Mode

Velocity Command Velocity Amplifier

Current Command

Power Amplifier

Current Feedback

M
Motor

Velocity Position Feedback

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TECHOMETER/ ENCODER

Power Amplifier
Receives a command signal typically 10V and amplifies it to the required level of current. Can be configured in Current Mode or Velocity Mode. Velocity mode used when velocity feedback is used. Otherwise configured in Current Mode.
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Current Mode
Amplifier produces current that is directly proportional to the input voltage. This is achieved by current feedback loop which monitors current and assumes that it is proportional to the command signal. Current amplifiers are characterized by the current gain, Ka which indicates the amplifier output current for 1 V of the command signal.

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Velocity Mode
Amplifier includes a voltage amplification stage which compares the applied voltage with the motor velocity and amplifies the difference before it is applied to the current loop.

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