State Control of Servo Drives with Flexible Structural Components

Abstract

This paper is concerned with the state control of servo axes for robots and machine tools. Special consideration is given to the additional damping of elastic structural components. Their effect on the feedback-controlled system is described by a simplified but suitable dynamic model that allows the state observation as well as online parameter identification for all relevant cases of structural flexibility. This leads to an extension of standard servo drives by a robust state space controller. The practical benefit of this method and its implementation on standard control hardware is illustrated for a newly developed machine tool axis