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MOTION CONTROL FEATURE ROL: THE NEXT EVOLUTION Figure 3: Monitoring and Auto-tuning of Torque-flux Current, Velocity, and Position Loops
motor and drive systems. An intelligent observer gains a fundamental understanding of its motion parameters and physical limits to create a working model of the drive system. This is achieved through a Field-Oriented Controller (FOC) approach reacting to its operating environment. We can optimise the drive system response by monitoring and auto-tuning the control parameter values from the motor’s control loops. Once these bits of information are gathered and fed into an intelligent observer, an algorithm ensures the control parameters are optimised, and the base motion control algorithm converges to an optimal set of parameters (Figure 3). Element IV: Adaptive Control: Building on our
system’s kinematics and auto-tuning capability, we can now focus on the next level in implementing self-aware motion control, the adaptive control engine (Figure 4). A few examples of these desired behaviours are a request to increase factory throughput or extend the motor’s operational lifetime by operating in a safe mode. As the motion control system automatically adjusts its motion control parameters to achieve this new level of requested performance, the adaptive control system continuously monitors the closed loop system to maintain its desired performance level. This state is maintained even if the drive system experiences change due to wear and tear of its mechanical systems or if a change in the motor’s working environment is encountered. Now the system has achieved the ultimate level of self-aware motion control.
A DEMONSTRATION The best way to demonstrate this concept is to use a real-world example (Figure 5). This example is relevant to all beer aficionados who like to have their frothy glass of beer delivered from the bartender across the length of a bar without spilling in the process. How is this example relevant to
implementing a self-aware motion control system? This task aims to deliver a liquid as quickly as possible from the bartender (point A) to a patron (point B). The plant
system, in this case, is a cup holder with a built-in weight detector to detect the various size beer mugs and move them across the length of the bar using a linear motor. A self-aware motion control system is beneficial to deliver in the fastest time possible. Still, it also automatically adapts its speed and performance if the patron puts the empty or
One can imagine an entire factory based on equipment using self-aware motors and intelligent sensors. This revolutionary factory would possess advanced capabilities to self-correct for potential equipment failures, automatically adjust production processes to maximise productivity and extend the operational lifespan of equipment across the factory floor.
Figure 4: Adaptive Control Model
partially empty mug back into the cup holder to return it to the bartender. This system is also helpful in adapting its performance if the bartender uses different-sized glasses with other types of drinks to deliver to the patrons.
Welcome to the exciting new world of self-aware motion control and the next industrial revolution!
Analogue Devices
www.analog.com
Figure 5: Example of Self-Aware Motion Control in Action (Varying Load Mass) MAY 2023 DESIGN SOLUTIONS 39
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