[...]... 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. .. 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 machine, was originally (about 1967) created when developing the DC servo motor Then, in 1975 by... when analyzing the one axis performance of mechatronic servo system One is that the structure of current mechatronic servo systems are almost all software servo systems and they must be thought of coming from the sampling control systems Therefore, the data renewal time interval of control system is determined by sampling frequency In general mechatronic servo system, there exist same delay time and 0th... arm (2) Servo Controller of Industrial Mechatronic Servo System The block diagram of servo system of each axis in a mechatronic servo system is a 13th order or higher high-order system strictly illustrated in Fig 1.1(refer to item 1.1.2) From Fig 1.1, the information of locus is not feedback in the servo controller From this 13th order model, the features of modeling from the point of the servo controller... of closed-loop control system Another is that, the upper controller seen from the servo system, i.e., the computer using for internal trajectory calculation of the controller, is performed in a time interval 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... performance of a mechatronic servo system 10 1 Outline of Mechatronic Servo Systems (1) Proper Sampling Frequency In the middle of 1980s, microprocessor (CPU), i.e., digital signal processor (DSP) became cheaper These processors are equipped into closed-loop of servo system Hence, servo system is constructed and movement can be remarkably flexible Software servo systems were developed These servo systems were... action characteristic of mechatronic servo system appropriately In an industrial field, determination of parameters of the servo controller is mostly based on the empirical rule of practician There is no mathematical model comprehensively expressing the mechatronic servo system including all mechanism parts, servo motor, servo controller, etc Since the structure of mechatronic servo systems in industry is... 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 is illustrated The properties of current servo system satisfying the control pattern and its utilization... of Mechatronic Servo Systems The mechatronic servo system is the major theme studied in this book In particular, the servo system adopted in an electric servo motor is explained in this chapter Several items of its utilization from the development stage to the present as well as its performances The so-called mechanism machine (called as mechatronic servo system at the following), i.e., the servo system . below. 1. Modelingofamechatronic servosystem 2. Performance of oneaxis in amechatronic servosystem 3. Performance of multiple axes in amechatronic servosystem 4. Command to servosystem The above. out. 1.1 Emergence of Mec hatronic Serv oS ystems 1.1.1 Control Pattern of Mechatronic Servo Systems The mechatronic servosystem, as the control system satisfying the motion conditionsoftransferaxis of numerical control machine, wasoriginally(about 1967). textbookofautomaticcontrol, which is very important when discussing the mechatronic servosystem. Firstly,the control pattern assigned in mechatronic servosystem is illus- trated.The properties of currentservosystem