Brushless servomotors: fundamentals and applications
Gespeichert in:
| Format: | Buch |
|---|---|
| Sprache: | Undetermined |
| Veröffentlicht: |
Oxford
Clarendon Press
1990
|
| Schriftenreihe: | Monographs in electrical and electronic engineering
23 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Literaturangaben |
| Beschreibung: | XI, 261 S. graph. Darst. |
| ISBN: | 0198593724 |
Internformat
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Datensatz im Suchindex
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| adam_text | BRUSHLESS SERVOMOTORS FUNDAMENTALS AND APPLICATIONS EDITED BY YASUHIKO
DOTE PROFESSOR, MURORAN INSTITUTE OF TECHNOLOGY JAPAN AND SAKAN
KINOSHITA TECHNICAL EXECUTIVE, SHIBAURA SEISAKUSHO CO. LTD., JAPAN
CLARENDON PRESS OXFORD 1990 CONTENTS XIII LIST OF CONTRIBUTORS 1 OUTLINE
OF BRUSHLESS SERVOMOTORS 1 YASUHIKO DOTE AND SAKAN KINOSHITA 1.0
INTRODUCTION 1 1.1 OPERATIONAL PRINCIPLES OF BRUSHLESS SERVOMOTORS 5 1.2
BRUSHLESS SERVOMOTORS 7 1.2.1 BRUSHLESS D.C. SERVOMOTOR DRIVE SYSTEM 7
1.2.2 DSP CONTROLLER 12 1.2.3 EXAMPLE OF A BRUSHLESS SERVOMOTOR DRIVE
SYSTEM 19 BIBLIOGRAPHY 20 2 OPERATIONAL PRINCIPLES OF BRUSHLESS
SERVOMOTORS 21 SHUNICHI UCHIYAMA 2.0 INTRODUCTION 21 2.1 OPERATIONAL
PRINCIPLES OF D.C. MOTORS 21 2.2 OPERATIONAL PRINCIPLES OF A.C. MOTORS
22 2.3 OPERATIONAL PRINCIPLES OF BRUSHLESS SERVOMOTORS 23 2.4 BRUSHLESS
SERVOMOTOR CONTROL CIRCUITS 25 2.4.1 ROTOR POSITION DETECTOR 26 2.4.2
SINE WAVE GENERATION CIRCUIT 27 2.4.3 DC-SIN CONVERSION CIRCUIT 29 2.4.4
SINE WAVE PWM CIRCUIT 30 2.4.5 SPEED DETECTOR 31 2.5
MICROPROCESSOR-BASED BRUSHLESS SERVOMOTOR CONTROL 34 2.5.1 ROTOR
POSITION DETECTOR AND SINE WAVE GENERATION CIRCUIT 34 2.5.2 SPEED
CONTROL CIRCUIT 35 2.5.3 CURRENT CONTROL CIRCUIT 36 2.5.4 PWM CIRCUIT 36
2.5.5 SPEED DETECTION CIRCUIT 37 BIBLIOGRAPHY 38 CONTENTS STRUCTURE AND
MATERIALS OF BRUSHLESS SERVOMOTORS 39 HIROSHI IMAGAWA 3.0 INTRODUCTION
39 3.1 BRUSHLESS SERVOMOTOR STRUCTURE 39 3.1.1 MOTOR CHARACTERISTICS DUE
TO STRUCTURE 40 3.1.2 BRUSHLESS SERVOMOTOR COMPONENTS 41 3.2 MATERIALS
AND CHARACTERISTICS OF PERMANENT MAGNETS 48 3.2.1 ALNICO MAGNETS 49
3.2.2 FERRITE MAGNETS 49 3.2.3 RARE-EARTH COBALT MAGNETS 54 3.2.4
NEODYMIUM-IRON MAGNETS 54 BIBLIOGRAPHY 54 BRUSHLESS SERVOMOTOR SENSORS
AND DIGITAL SIGNAL PROCESSORS 56 MASATERU NAGAKURA 4.0 INTRODUCTION 56
4.1 OPTICAL ENCODER 56 4.1.1 INCREMENTAL ENCODER 56 4.1.2 ABSOLUTE
ENCODER 61 4.2 MAGNETIC ENCODER 63 4.2.1 OPERATIONAL PRINCIPLES 64 4.2.2
FEATURES OF MAGNETIC ENCODERS 65 4.2.3 CONSIDERATIONS IN USING MAGNETIC
ENCODERS 65 4.3 CONSIDERATIONS IN USING ROTARY ENCODERS 65 4.3.1
STANDARDS FOR SELECTION OF ROTARY ENCODERS 66 4.3.2 OUTPUT CIRCUITS 66
4.3.3 WIRING OF ROTARY ENCODERS 67 4.3.4 CONSIDERATIONS IN COUPLING 67
4.4 RESOLVER 68 4.4.1 DETECTOR CIRCUIT 69 4.4.2 CHARACTERISTICS OF
RESOLVERS 69 4.5 ROTARY ENCODER TERMINOLOGY 70 4.6 DIGITAL SIGNAL
PROCESSORS 70 BIBLIOGRAPHY 72 MAIN CIRCUIT OF BRUSHLESS SERVOMOTORS 73
YASUHIKO DOTE AND YUKIO HASHIMOTO 5.0 INTRODUCTION 73 5.1 LARGE POWER
SEMICONDUCTOR DEVICES 75 5.1.1 BIPOLAR POWER TRANSISTORS 78 CONTENTS IX
5.1.2 LARGE POWER MOSFET 81 5.1.3 GTO THYRISTOR 83 5.1.4 SI THYRISTOR 85
5.1.5 INSULATED GATE BIPOLAR TRANSISTOR 88 5.1.6 MOS-CONTROLLED
THYRISTOR 91 5.1.7 COMPARISON OF MODERN POWER SEMICONDUCTOR DEVICES 95
5.2 MAIN CIRCUIT CONFIGURATION 98 5.2.1 MAIN CIRCUIT 98 5.2.2 TRIGGER
CONTROL CIRCUIT 98 5.3 PROTECTION OF MAIN CIRCUIT 99 BIBLIOGRAPHY 103 6
BRUSHLESS SERVOMOTOR CONTROL 104 YASUHIKO DOTE 6.0 INTRODUCTION TO
CONTROL TECHNIQUES 104 6.1 BRUSHLESS SERVOMOTOR CONTROL 107 6.1.1
CONTROL PRINCIPLES OF BRUSHLESS SERVOMOTORS 107 6.1.2 MATHEMATICAL MODEL
FOR BRUSHLESS SERVOMOTOR DRIVE SYSTEM 109 6.2 MOTION CONTROL 114 6.2.0
INTRODUCTION 114 6.2.1 POSITIONING ACCURACY AND SPEED CONTROL RATE 114
6.2.2 FORCE CONTROL AND ACCELERATION CONTROL 115 6.2.3 CONTROL
CONSIDERATIONS IN MECHANICAL SYSTEMS WITH NON-LINEARITY 118 6.2.4
MECHANICAL IMPEDANCE CONTROL 119 6.2.5 VIBRATION SUPPRESSION CONTROL 120
6.2.6 BRUSHLESS SERVOMOTOR CURRENT AND FLUX CONTROLS 126 6.3 DIGITAL
ROBUST CONTROL ALGORITHMS 135 6.3.0 INTRODUCTION 135 6.3.1 EQUIVALENT
DISTURBANCE OBSERVER AND ZEROING 136 6.3.2 IMPROVED SLIDING MODE CONTROL
WITH VARIABLE-GAIN FEEDFORWARD PATH 149 6.3.3 VARIABLE-STRUCTURE PI WITH
VARIABLE-GAIN FEEDFORWARD, INPUT MODULATION AND EQUIVALENT DISTURBANCE
OBSERVER 152 6.3.4 MODEL REFERENCE ADAPTIVE CONTROL 154 6.3.5 LEARNING
(REPETITIVE) CONTROL 163 6.3.6 INTELLIGENT (EXPERT) CONTROL 168 6.4
SENSORS AND SIGNAL PROCESSING 170 6.4.0 INTRODUCTION 172 6.4.1
HIGH-RESOLUTION POSITION-SENSING ALGORITHM 172 6.4.2 HIGH-RESOLUTION
VELOCITY-SENSING ALGORITHMS 172 6.4.3 DISTURBANCE TORQUE OBSERVER 175 X
CONTENTS 6.4.4 DISCUSSION ON OBSERVERS 180 BIBLIOGRAPHY 182 7 DESIGN
METHOD FOR BRUSHLESS SERVOMOTORS 184 HARUO NAKATSUKA 7.0 INTRODUCTION
184 7.1 TORQUE-GENERATION PRINCIPLES 184 7.2 MOTOR CHARACTERISTICS 189
7.3 PERMANENT MAGNETS 192 7.3.1 MANUFACTURING PROCESS FOR FERRITE
MAGNETS 192 7.3.2 CONSIDERATIONS IN USING FERRITE MAGNETS 195 7.4
CALCULATION FOR MAGNETIC CIRCUIT DESIGN OF PERMANENT-MAGNET MOTORS 198
7.5 BRUSHLESS SERVOMOTOR DESIGN 202 7.6 PERFORMANCE REQUIREMENTS OF
SERVOMOTORS AND DESIGN SOLUTIONS 210 7.6.1 USABILITY OVER WIDE RANGE OF
SPEED CONTROL 210 7.6.2 QUICK RESPONSE TO ACCELERATION, DECELERATION,
AND INSTANTANEOUS REVERSE ROTATION 212 7.6.3 STRUCTURE OF MOTORS FOR
SEVERE OPERATIONAL CONDITIONS 212 7.6.4 LOW VIBRATION AND NOISE 216
7.6.5 LOW ROTATION RIPPLE AND TORQUE RIPPLE 216 BIBLIOGRAPHY 218 8
EXAMPLES OF APPLICATION AND SELECTION OF BRUSHLESS SERVOMOTORS 219
SHUNICHI UCHIYAMA 8.1 WHAT IS THE OUTPUT OF A MOTOR? 219 8.1.1
CALCULATION OF MOTOR OUTPUT IN STEADY OPERATION 220 8.1.2 CALCULATION OF
MOTOR OUTPUT NECESSARY FOR REQUIRED ACCELERATION AND DECELERATION 221
8.1.3 CALCULATION OF MOTOR OUTPUT WITH CONSIDERATION OF DUTY CYCLE 222
8.2 WHICH TO SELECT: D.C. SERVOMOTOR OR A.C. SERVOMOTOR? 222 8.3
SERVOMOTOR APPLICATIONS . 224 8.3.1 APPLICATION TO INDUSTRIAL ROBOTS 224
8.3.2 X-Y AXIS FEED FOR PRECISE POSITIONING 225 8.3.3 CONSTANT-INTERVAL
TABLE FEED FOR GENERAL AUTOMATED MACHINES 225 8.3.4 RADIAL FEED OF A
FORMING GRINDER 225 8.3.5 X-Y AXIS OPERATION OF AN AUTOMATIC DRAFTING
MACHINE 226 8.4 BASIC TERMINOLOGY FOR SERVOMOTORS 227 CONTENTS 9
MEASUREMENT AND EVALUATION OF BRUSHLESS SERVOMOTORS 230 HITOSHI ISHIMINE
9.1 TORQUE MEASUREMENT 230 9.1.1 BRAKES 230 9.1.2 TORQUE SENSORS 233 9.2
ANGULAR VELOCITY MEASUREMENT 234 9.2.1 METHODS FOR MEASURING ANGULAR
VELOCITY 234 9.2.2 LINEARITY 235 9.2.3 SYMMETRY 237 9.3 SPEED
FLUCTUATION MEASUREMENT 238 9.3.1 ANDERSON METHOD 239 9.3.2 WOW AND
FLUTTER METER METHOD 239 9.3.3 FLUCTUATION COEFFICIENT METHOD 240 9.4
TEMPERATURE RISE 242 BIBLIOGRAPHY 243 APPENDIX 1 DERIVATION OF
MATHEMATICAL MODEL FOR BRUSHLESS SERVOMOTORS 244 YASUHIKO DOTE APPENDIX
2 DERIVATION AND ESTIMATION OF MATHEMATICAL MODELS (DESIGN OF A STATE
OBSERVER) 252 APPENDIX 3 ANALOGY AND DUALITY BETWEEN MECHANICAL SYSTEMS
AND ELECTRICAL SYSTEMS 259 APPENDIX 4 UNIT CONVERSIONS 262 APPENDIX 5
TYPES OF STANDARDS 263 INDEX 265
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| isbn | 0198593724 |
| language | Undetermined |
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| physical | XI, 261 S. graph. Darst. |
| publishDate | 1990 |
| publishDateSearch | 1990 |
| publishDateSort | 1990 |
| publisher | Clarendon Press |
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| series | Monographs in electrical and electronic engineering |
| series2 | Monographs in electrical and electronic engineering |
| spelling | Brushless servomotors fundamentals and applications ed. by Yasuhiko Dote ... Oxford Clarendon Press 1990 XI, 261 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Monographs in electrical and electronic engineering 23 Literaturangaben Servomotor (DE-588)4077381-4 gnd rswk-swf Dauermagneterregter Synchronmotor (DE-588)4148913-5 gnd rswk-swf Dauermagneterregter Synchronmotor (DE-588)4148913-5 s Servomotor (DE-588)4077381-4 s DE-604 Dote, Yasuhiko Sonstige oth Monographs in electrical and electronic engineering 23 (DE-604)BV001902153 23 HEBIS Datenaustausch Darmstadt application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=002967037&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Brushless servomotors fundamentals and applications Monographs in electrical and electronic engineering Servomotor (DE-588)4077381-4 gnd Dauermagneterregter Synchronmotor (DE-588)4148913-5 gnd |
| subject_GND | (DE-588)4077381-4 (DE-588)4148913-5 |
| title | Brushless servomotors fundamentals and applications |
| title_auth | Brushless servomotors fundamentals and applications |
| title_exact_search | Brushless servomotors fundamentals and applications |
| title_full | Brushless servomotors fundamentals and applications ed. by Yasuhiko Dote ... |
| title_fullStr | Brushless servomotors fundamentals and applications ed. by Yasuhiko Dote ... |
| title_full_unstemmed | Brushless servomotors fundamentals and applications ed. by Yasuhiko Dote ... |
| title_short | Brushless servomotors |
| title_sort | brushless servomotors fundamentals and applications |
| title_sub | fundamentals and applications |
| topic | Servomotor (DE-588)4077381-4 gnd Dauermagneterregter Synchronmotor (DE-588)4148913-5 gnd |
| topic_facet | Servomotor Dauermagneterregter Synchronmotor |
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