[...]... current servo system satisfying the control pattern and its utilization are introduced Next, as the discussion items, the analysis on mechatronic servo system and its utilization are carried out 1.1 Emergence of Mechatronic Servo Systems 1.1.1 Control Pattern of Mechatronic Servo Systems The mechatronic servo system, as the control system satisfying the motion conditions of transfer axis of numerical control. .. model, the various control properties of the mechatronic servo system can be analyzed and they can be adopted in the design of the servo controller 2.1.1 Mechatronic Servo Systems (1) Structure of an Industrial Mechatronic Servo System Fig 2.1 illustrates the whole structure of a mechatronic servo system As shown in this figure, the industrial mechatronic servo system is the servo system including the... in Mechatronic Servo Systems In order to understand the current mechatronic servo system and develop servo systems with better performance than at present, this servo system must be investigated from various points of view The discussion points are listed as below 1 2 3 4 Modeling of a mechatronic servo system Performance of one axis in a mechatronic servo system Performance of multiple axes in a mechatronic. .. performances The so-called mechanism machine (called as mechatronic servo system at the following), i.e., the servo system adopted in the numerical control machine or industrial robot, is generally different from the servo system introduced in the textbook of automatic control, which is very important when discussing the mechatronic servo system Firstly, the control pattern assigned in mechatronic servo system. .. this mechatronic servo system, the control pattern, as the start point of servo system construction, is according to the following 1 The velocity offset for step-shape torque disturbance is below n[rpm] (generally below 1[rpm]) M Nakamura et al.: Mechatronic Servo System Control, LNCIS 300, pp 1–15, 2004 Springer-Verlag Berlin Heidelberg 2004 2 1 Outline of Mechatronic Servo Systems 2 The velocity control. .. In the contour control, the servo system, as a position control system, requires strict velocity control for many kinds of response Concerning the robot for welding, the importance of velocity control can be easily Position control part Velocity control part Velocity controller Position controller - Kp Current control part Current controller Kvs i (Ts+1) - Ti s Velocity filter 1 Tv s+1 - Amplifier part... providing command given in the servo system From the relation between this time interval and performance of the control system, the overall mechatronic servo system performance of a mechatronic machine can be determined From this point of view, the value of these discrete time intervals are very important for analyzing the performance of a mechatronic servo system 10 1 Outline of Mechatronic Servo Systems... input for servo system is described with the form of a velocity 1.2 Issues in Mechatronic Servo Systems 7 command Here, the period of this command or time interval is called as the system clock of the servo system in the controller or servo data rate of the controller Since this reference time interval is selected based on the property of the servo system dependent on the mechanism part structure and related... Performance of a Multi-Axis Mechatronic Servo System The basic part of on discussion on mechatronic servo systems can be carried out as a one-axis servo system However, when investigating the performance of mechanism machines, they must be investigated as multiple axes The motion of multi-axis servo systems causing basic phenomena due to torque saturation can be found When using a servo system in the state... system Performance of multiple axes in a mechatronic servo system Command to servo system The above viewpoints come from the system components of servo system in theory It means that a servo system is one of the system components for establishing a mechanism machine and needed to know that in which step servo system can be thought as good enough so that the system is constructed efficiently, desired mechanism . of multiple axes in amechatronic servosystem 4. Command to servosystem The above viewpoints come from the system components of servosystem in theory.Itmeans that aservosystem is one of the system. important when discussing the mechatronic servosystem. Firstly,the control pattern assigned in mechatronic servosystem is illus- trated.The properties of currentservosystem satisfying the control. added. 1.2Issues in Mechatronic ServoSystems In order to understand the current mechatronic servosystem and develop serv os ystems with be tter pe rformance thana tp resen t, thiss erv os ystem must