资 源 简 介
This book is intended for engineering students in the final years of undergraduatestudies. It is also recommended for graduate students and engineersaspiring to work in intelligent moTIon control and digital control ofelectrical drives. By providing a bridge between control theory and pracTIcalhardware aspects, programming issues, and applicaTIon-specific prob-Basic engineering principles are used to derive the controller structure inan intuiTIve manner, so designs are easy to recall, repeat and extend. Thebook prepares the reader to understand the key elements of motion controlsystems; to analyze and design the structure of discrete-time speed and positioncontrollers; to set adjustable feedback parameters according to designcriteria; to identify, evaluate, and compare closed-loop performances; totiresonant compensators; and to generate speed reference profiles and positiontrajectories for use within motion-control systems. The Matlab toolsare used extensively through various chapters to help the reader master thephases of design, tuning, simulation, and evaluation of speed and positioncontrollers.Key motion-control topics, such as nonlinear position control, control ofmechanical structures with flexible couplings, compliance and mechanicalresonance problems, and antiresonant solutions, are introduced in a systematicmanner. A set of exercises, problems, design tasks, and computer simulationsfollows each chapter, enabling the reader to foresee the effects ofvarious control solutions and actions on the overall behavior of motioncontrolledsystems. In addition to control issues, the book contains an extheclosing chapters, the reader is given an overview of coding the controlalgorithms on a DSP platform. The algorithm coding examples are included,given in both assembly language and C, designed for fixed pointDSP platforms. They offer a closer look into the characteristics and peformanceof contemporary DSP cores and give the reader an overview of thepresent performance limits of digital motion controllers. Most of the controlsolutions presented in the book are supported by experimental evidenceobtained on test rigs equipped with typical brushless DC and AC servo motors,contemporary servoamplifiers, and suitable mechanical subsystems.
