Advanced Position Control for Servo Axes with Flexible Load

Abstract

Structural elasticity and flexible transmission devices are the main bottleneck for the feedback control performance of modern servo drives. Therefore, PI velocity control loop commissioning is a key issue. In this contribution, analytical rules of thumb for optimum damping performance are presented. For machine tool axes with flexible drive chain a state space control extension called APC has been introduced by a marked-leading automation systems supplier that results in an effective load vibration suppression if the load position is captured with adequate resolution. Controller commissioning rules for machine tool applications had been worked out based on the APC option. Furthermore, the APC option is compared to a more general state space control extension approach.