ImPosAnt

 Important data at a glance

© JAT - Jenaer Antriebstechnik GmbH

Objective

Motivation

Pulse compensation is a method developed and patented at the Chair of Machine Tools Development and Adaptive Controls, in which the structure-exciting reaction force components of electric feed drives are compensated by a targeted control of additional drives (compensation drives), thus achieving an increase in the dynamics of the motion specifications while maintaining or improving motion accuracies (cf. [TUD06] and [Ihl20]). For the industrial applicability of the method, it is necessary to implement the path planning algorithms for all involved drives in their drive controllers.

Solution approach

The goal and innovative core of the cooperation project is to develop adaptive algorithms for the control of the compensation drives based on simulation and to integrate them in the form of technology functions into the drive control units of JAT GmbH. The experimental testing, the functional verification as well as the proof of the dynamic increase with increased motion accuracy will be carried out on a newly developed positioning drive system adapted to the possibilities and advantages of the pulse compensation. The main contributions of the cooperation partners to the innovation process are illustrated in Fig. 1.

Challenges

Implementation of the algorithms on the servo amplifiers from JAT

For the efficient and control-independent control of the compensation drives, the corresponding calculation algorithms must be implemented in the inverter. Only by providing the required software functionalities in the JAT drive controllers can pulse compensation be successfully implemented in industrial applications. However, the computing power and the memory space in the servo amplifier are limited. Especially for very low interpolation clocks, it is conceivable that the required calculation time for the algorithms is too large. In addition, the implementation of non-causal filtering to avoid phase shifts requires the intermediate storage of path segments. At present, it has not yet been clarified how large the path sections and thus the memory requirement in the inverter must be.

Implementation of cross communication between several servo amplifiers

In order to be able to additionally take interference force influences into account, data exchange between several inverters via cross communication is required. For the different fieldbuses supported by JAT it is not known to what extent they support cross communication.

© LWM / JAT

Solution

To achieve the objective, the development and implementation of extended functionalities (technology functions) of existing drive control units (servo amplifiers) as well as the development of constructive solutions for minimizing the mass of the moving assemblies, the thermostable design as well as the integration of the compensation drives required for the pulse compensation are necessary.

In particular, the following basic sub-objectives (implementation variants of the control of the compensation drives) are to be implemented, which represent the innovative core of the project and at the same time serve as purchasing arguments for the customer, since the appropriate servo amplifier type can be selected or combined by the customer depending on requirements and application (cf. Fig. 2):

• Target path preparation in the control system, use of 1-channel servo amplifiers, without consideration of disturbance forces (Fig. 2, variant a)
• Setpoint path preparation in the 2-channel servo amplifier, without taking interference forces into account (Fig. 2, variant b)
• Setpoint path preparation in the 2-channel servo amplifier, with consideration of disturbance forces using internal cross communication (Fig. 2, variant c)
• Setpoint path preparation in the 1-channel servo amplifier, cross communication between the servo amplifiers, without and with consideration of disturbance forces (Fig. 2, variant d)

© LWM / JAT

Results

The technology maturity level TRL 6 is targeted. Using the fully tested, pulse-compensated positioning system, an increase in dynamics by a factor of 10 in terms of acceleration and jerk as well as a reduction in vibration excitation by 80% measured in terms of vibration amplitude must be demonstrated.

Sources

[TUD06]: Schutzrecht DE 102004057062B4 (22.06.2006). Großmann, K. ; Müller, J. ; Jungnickel, G. ; Mühl, A. (Erfinder); TU Dresden, 01069 Dresden (Anmelder)

[Ihl20]: Ihlenfeldt, S. ; Müller, J. ; Merx, M. ; Kraft, M. ; Peukert, C. : Simplified Manufacturing of Machine Tools Utilising Mechatronic Solutions on the Example of the Experimental Machine MAX. In: Yan, X.-T. (Hrsg.) ; Bradley, D. (Hrsg.) ; Russell, D. (Hrsg.) ; Moore, P. (Hrsg.) : Reinventing Mechatronics: Developing Future Directions for Mechatronics. Springer, 2020, pp. 145–162 – ISBN 978–3–030–29131–0

Contact

© Crispin-Iven Mokry

Research associate

Name

Mr Dipl.-Ing. Marcel Merx

Control and Feedback Control Systems

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Contact Information

Organization Name

Chair of Machine Tools Development and Adaptive Controls

Chair of Machine Tools Development and Adaptive Controls

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