[...]... Ka(Tas +1) 1 K1 2 Ta s (Tf s +1) K os +1 - Motor Motor electric term Torque constant 1 L as+Ra Kτ Gear Mechanism part 1 NG Gear - 1 JM s 1 s 1 NG - Spring constant KL - 1 JL s 1 s Ke DL Fig 1. 1 Construction of position control system of one-axis mechatronic servo system 4 1 Outline of Mechatronic Servo Systems understood In electric welding using an automatic welding machine, after setting voltage and current,... 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 Axis... 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 19 67) created when developing the DC servo motor Then, in 19 75 by Yaskawa Electric, the velocity control equipment (servo driver unit)... 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 ratio is one to several thousands (minimum 1[ rpm] and maximum 3000–5000[rpm]) 3 The capability... 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 are introduced Next, as the discussion items, the analysis on mechatronic servo system and its utilization... voltage and permitted maximal current Thus, in the velocity control, it is required that the power amplifier is adopted with its maximal capability (allowance current) and the acceleration/deceleration time is shortened The structure of a mechatronic servo system designed for satisfying these performances is illustrated in Fig .1. 1 for DC motor As an aid to understand- 3 1. 1 Emergence of Mechatronic Servo Systems... the partner mutually Fine mutual human relations Concerning the writing of this book, Mr Kojiro Kobayashi, Department of production of the Morikita press, and Mr Shoji Ishida, Department of compilation of the Morikita press, took care of it very much All my great gratitude are here expressed October 19 98 Editor-composer Masatoshi NAKAMURA 1 Outline of Mechatronic Servo Systems The mechatronic servo system. .. unified the compensator of control system and power amplifier was sold Initially, it was mainly adopted for the transfer axis control of working machine From 19 80, it was also adopted for the position and velocity controls of various kinds of mechanisms such as the industrial robot At the generation of this mechatronic servo system, the control pattern, as the start point of servo system construction, is... the controller using position, velocity, current loop can be also changed into a software servo system with a software algorithms using a micro processor, from the original hardware computing amplifier 1. 1.2 Characteristic of Servo System Applications The emergence and structure of mechatronics have been briefly introduced in the former part In order to understand that the usage of this mechatronic servo. .. for motion is known before starting control In addition, it can be supposed that external disturbance is mixed into the control system When the mixed disturbance over the supposition, concerning the safety of equipment, the motion of control system should be stopped and the power source for driving should be isolated y P i +1 Pi Pi -1 0 x Fig 1. 2 PTP control and CP control . 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 19 67). important when discussing the mechatronic servosystem. Firstly,the control pattern assigned in mechatronic servosystem is illus- trated.The properties of currentservosystem satisfying the control. usedfor thecontrol of transfer axi s of mechanismimplementing anythree-dimensional shapeprocessing (ma- chine center, etc). 2. In the contour control, the servosystem, as aposition control system, requiresstrict