Tan / Putra Drives and Control for Industrial Automation

1. Auflage 2010
ISBN: 978-1-84882-425-6
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 182 Seiten

Reihe: Advances in Industrial Control

Drives and Control for Industrial Automation presents the material necessary for an understanding of servo control in automation. Beginning with a macroscopic view of its subject, treating drives and control as parts of a single system, the book then pursues a detailed discussion of the major components of servo control: sensors, controllers and actuators. Throughout, the mechatronic approach - a synergistic integration of the components - is maintained, in keeping with current practice. The authors' holistic approach does not preclude the reader from learning in a step-by-step fashion - each chapter contains material that can be studied separately without compromising understanding. Drives are described in several chapters according to the way they are usually classified in industry, each comprised of its actuators and sensors. The controller is discussed alongside. Topics of recent and current interest - piezoelectricity, digital communications and future trends - are detailed in their own chapters.

Autoren/Hrsg.

Tan, Kok Kiong

Putra, Andi Sudjana

Inhaltsverzeichnis

1;Series Editors' Foreword;8
2;Preface;10
3;Contents;12
4;Overview of Servo Control;15
4.1;Objectives of Servo Control;15
4.2;Elements of a Servo Control;18
4.2.1;Measurement;19
4.2.2;Actuation;19
4.2.3;Power Moderation;19
4.2.4;Control;20
4.2.5;Putting Them All Together;21
5;Servo Hydraulic and Pneumatic Drive;22
5.1;Overview of Servo Hydraulic and Pneumatic Drive;22
5.2;Fundamentals of Hydraulic and Pneumatic Drives;24
5.2.1;Basic Definitions and Principles;25
5.2.1.1;Weight and Weight Density;25
5.2.1.2;Pressure;25
5.2.1.3;Flow Rate;25
5.2.1.4;Pascal's Law;26
5.2.1.5;Bernoulli's Equation;26
5.2.1.6;Bulk Modulus;26
5.2.1.7;Boyle's Law;27
5.2.1.8;Viscosity;27
5.2.2;Hydraulic Liquid;27
5.2.3;Benefits of Fluidic Drives;28
5.3;Components of Fluidic Drives Systems;29
5.3.1;Primary Power Source;29
5.3.2;Hydraulic Pump;29
5.3.2.1;Types of Positive Displacement Pumps;31
5.3.2.2;Boost Pump;34
5.3.2.3;Performance Indicators of the Pump;34
5.3.3;Hydraulic Motor;35
5.3.3.1;Types of Hydraulic Motors;35
5.3.3.2;Performance Indicators of Hydraulic Motors;38
5.3.4;Hydraulic Piston/Cylinder;38
5.3.4.1;Loading Piston;39
5.3.4.2;Cushioning Cylinder;39
5.3.4.3;Sealing;39
5.3.4.4;Performance Indicators of Hydraulic Cylinder;39
5.3.5;Control Valves;40
5.3.5.1;Evolution of Control Valves;40
5.3.5.2;Fundamentals of Control Valves;41
5.3.5.3;Proportional Control Valve;42
5.3.5.4;Servo Control Valve;44
5.3.5.5;Classification of Control Valves Based on Functions;45
5.3.5.6;Performance Indicators of Control Valves;47
5.3.6;Sensors;48
5.3.6.1;Pressure;48
5.3.6.2;Flow;50
5.3.6.3;Temperature;51
5.3.7;Auxiliary Equipment;52
5.3.7.1;Pressure Relief Valve;52
5.3.7.2;Check Valve;53
5.3.7.3;Shuttle Valve;53
5.3.7.4;Filter;53
5.3.7.5;Flow Divider;54
5.3.7.6;Accumulator;54
5.4;Basic Hydraulic Circuits;55
5.4.1;Constant Flow System;55
5.4.2;Constant Pressure System;56
5.4.3;Constant Power System;56
5.4.4;Interlock of Hydraulic Circuits;57
6;Electric Drives;58
6.1;Overview of Electric Drives;58
6.2;Electric Motors;60
6.2.1;Stepper Motor;62
6.2.2;DC Motor;64
6.2.3;AC Motor;69
6.2.3.1;Synchronous Motor;70
6.2.3.2;Squirrel-cage Motor;73
6.2.3.3;Wound-rotor Motor;74
6.2.4;Linear Motor;75
6.3;Power Electronics;76
6.3.1;DC to DC Converter;78
6.3.1.1;Class A Converter;79
6.3.1.2;Class B Converter;80
6.3.1.3;Class C Converter;81
6.3.1.4;Class E Converter;82
6.3.1.5;Cuk Converter;82
6.3.1.6;Flyback Converter;83
6.3.2;DC to AC Converter;83
6.3.3;AC to AC Converter;86
6.3.4;AC to DC Converter;87
6.4;Sensors;89
6.4.1;Position Measurement;90
6.4.1.1;Encoder;90
6.4.1.2;Potentiometer;90
6.4.1.3;Opto-transducer;91
6.4.1.4;Linear Variable Displacement Transformer (LVDT);91
6.4.1.5;Strain Gauge;92
6.4.2;Velocity Measurement;94
6.4.3;Acceleration Measurement;94
6.4.3.1;Torque Measurement;95
6.5;Configuring an Electric Drive Application;96
7;Piezoelectric Drives;99
7.1;Solid-state Actuators and Piezoelectric Actuators;99
7.2;Piezoelectricity;101
7.3;Nonlinearity in Piezoelectric Actuators;102
7.4;Mechanical Linkages for Piezoelectric Drives;105
7.4.1;Notch Joints;107
7.4.2;Cross-strip Pivot and Cartwheel Hinge;107
7.4.3;Passive Joints;109
7.4.4;Compliant Revolute Joint;110
7.4.5;Compliant Translational Joint;110
7.5;Example of Application;111
8;Control System in Servo Drives;117
8.1;Open-loop Versus Closed-loop Control;117
8.2;Servo Control Challenges;118
8.2.1;System Design;118
8.2.1.1;Mechanical Components;118
8.2.1.2;Electronic Components;119
8.2.2;Nonlinear Dynamics;119
8.2.2.1;Sensor Characteristics;119
8.2.2.2;Friction;120
8.2.2.3;Force Ripples;121
8.2.2.4;Hysteresis and Backlash;122
8.2.2.5;Saturation;123
8.2.2.6;Dead Zone;124
8.2.3;Disturbances;125
8.2.3.1;Reference Signal Changes;125
8.2.3.2;Low-frequency Drift;125
8.2.3.3;High-frequency Noise;125
8.3;Servo Control Structures;126
8.3.1;Trajectory Generator;126
8.3.2;Feedback Control;126
8.3.2.1;Components of PID Controller;128
8.3.2.2;Tuning the PID Controller;133
8.3.2.3;Integrator Wind-up;136
8.3.3;Feedforward Compensator;138
8.3.4;States Feedback with Observers;139
8.3.5;Notch Filter;142
8.4;Implementation;143
8.4.1;Digital Control;143
8.4.1.1;Discretization;144
8.4.1.2;Inputs/Outputs;146
8.4.2;Analog Control;146
8.5;IEC 61131-3 Programming Standards;147
8.5.1;Ladder Diagrams;148
8.5.2;Instruction List (IL);149
8.5.3;Structured Text (ST);149
8.5.4;Sequential Function Charts (SFC);150
8.5.5;Function Block Diagrams (FBD);152
8.5.6;Continuous Function Chart (CFC);154
9;Digital Communication Protocols;155
9.1;Evolution of Fieldbuses;155
9.1.1;Distributed Control Systems;155
9.1.2;Issues of Proprietary Protocols;157
9.2;Fieldbus Protocol Stack;160
9.2.1;Physical Layer;161
9.2.2;Link Layer;164
9.2.3;Network Layer;166
9.2.4;Application Layer;166
9.2.5;User Layer;166
9.2.6;Traversing the Stack;167
9.3;Common Fieldbuses;167
9.3.1;CANopen;167
9.3.2;Profibus;168
9.3.3;Foundation Fieldbus;169
9.3.4;Firewire;170
9.3.5;Sercos;171
9.3.6;Ethernet;171
9.4;Applications in Hydraulic/Pneumatic and Electric Drives;173
9.4.1;Fieldbuses in Hydraulic/Pneumatic Drives;174
9.4.2;Fieldbuses in Electric Drives;174
10;Trends in Motion Control;175
10.1;Background;175
10.1.1;Nanotechnology;175
10.1.2;Biotechnology;176
10.2;Ultra-precision Machining;177
10.2.1;Ultra-precision Spindles;177
10.2.2;Excimer Laser Micromachining;177
10.3;Micro-fabrication;178
10.3.1;Lithography;178
10.3.2;Micro-electro-mechanical Systems (MEMS);179
10.4;Micro-assembly;179
10.5;Precision Metrology and Test;180
10.6;Driving Technologies;180
10.6.1;Micromanufacturing;180
10.6.2;Microassembly;181
10.6.3;Micrometrology;181
11;References;183
12;Index;189