Comparative Study of Feedback Sensor Locations for Servo Systems with MotorlLoad Inertia MisDlatch
نویسندگان
چکیده
Servo systems, consisting of actuators, drive trains and loads, are commonly used throughout both the robotic and machine tool industries. One important servo problem is the precise position and velocity control of each joint used in a robotic manipulator. Olle of the factors governing performance of such systems is the mism.atch that often exists between motor and load inertias. This paper discusses the effect such a mismatch has on servo system performance. Methods of improving response through careful placement of the closed loop feedback sensors are discussed through a theoretical analysis. These methods are then verified through system simulation and application to a specially constructed experimental rig.
منابع مشابه
Control of servo systems in the presence of motor-load inertia mismatch
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