Optimisation in servo motion control: Considering hardware constraints

Abstract

Optimization in control of electric drives is hardly possible without considering hardware constraints of the system. For servo drives working in exact tracking mode the motion profile should be formed so that all of reference values of drive variables do not exceed the constraints to prevent precision or even system stability can be lost. In the paper a software tool for drive system internal and external constraints analysis is presented. It enables to predict the achievable performance for a drive composed of the components (motor, servo amplifier, position sensor, etc.) being selected from a user extendable library. This enables to predict if the system is capable of tracking a desired motion profile, analyze if sophisticated control algorithms, such as field weakening techniques are able to increase drive performance. As a result, the hardware layout as well as control system design can be facilitated reducing time to market.