Modeling and Synthesis of Tracking Control for the Belt Drive System
Selezneva, Aleksandra (2007)
Diplomityö
Selezneva, Aleksandra
2007
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe20071441
https://urn.fi/URN:NBN:fi-fe20071441
Tiivistelmä
Usingof belt for high precision applications has become appropriate because of the
rapid development in motor and drive technology as well as the implementation of
timing belts in servo systems. Belt drive systems provide highspeed and acceleration,
accurate and repeatable motion with high efficiency, long stroke lengths and low cost.
Modeling of a linear belt-drive system and designing its position control are examined
in this work. Friction phenomena and position dependent elasticity of the belt are
analyzed. Computer simulated results show that the developed model is adequate. The
PID control for accurate tracking control and accurate position control is designed and
applied to the real test setup. Both the simulation and the experimental results
demonstrate that the designed controller meets the specified performance
specifications.
rapid development in motor and drive technology as well as the implementation of
timing belts in servo systems. Belt drive systems provide highspeed and acceleration,
accurate and repeatable motion with high efficiency, long stroke lengths and low cost.
Modeling of a linear belt-drive system and designing its position control are examined
in this work. Friction phenomena and position dependent elasticity of the belt are
analyzed. Computer simulated results show that the developed model is adequate. The
PID control for accurate tracking control and accurate position control is designed and
applied to the real test setup. Both the simulation and the experimental results
demonstrate that the designed controller meets the specified performance
specifications.