@misc{Baumgartner2012,
abstract = {The goal of this Thesis is the development of control concepts for a high precision position tracking application, with a maximal dynamic tracking error of 50µrad. For this purpose, the company Hexagon Metrology designed a mechanical setup, which is based on the results of a preceding Master Thesis [Hausammann 11]. The torque is generated by a permanent magnet synchron machine (PMSM) and transfered to the load through a Harmonic Drive gear. On the load side two hybrid spindle ball bearings are incorporated. The two angular encoders on each side of the Harmonic Drive gear are supplemented by a Ferraris acceleration sensor on the load side. A Triamec servo controller with a PWM frequency of 100 kHz, forms the electrical part of the whole system. Within this work a detailed modell of the system, including the relevant non-linearities, is derived using Matlab and Simulink. Thereby, the simulation results are verified using the described hardware and the modell is refined in several iterations. This allows to gain a better understanding of the existing effects and therefore to develop appropriate concepts to increase the precision. Finally, the control algorithms were implemented on the servo as a C{\#} real time application. Beside a conventional PI position controller, a so called active damping for the supression of resonant oscillations, as well as a compensation of the gear transmission error have been implemented. By this means a maximum load position error of 150µrad could be achieved. Based on the results of this Thesis a proposal for a optimized mechanical setup was developed. IX},
author = {Baumgartner, Marc and Christen, Rouven},
institution = {Master Thesis, University of Applied Science Buchs},
keywords = {Control,Dynamic Precision,Harmonic Drive,Modelling},
mendeley-tags = {Control,Dynamic Precision,Harmonic Drive,Modelling},
pages = {1--76},
title = {{Modellbasierte Folgeregelung einer hochpr{\"{a}}zisen rotativen Achse}},
type = {Master Thesis},
year = {2012}
}

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Within this work a detailed modell of the system, including the relevant non-linearities, is derived using Matlab and Simulink. Thereby, the simulation results are verified using the described hardware and the modell is refined in several iterations. This allows to gain a better understanding of the existing effects and therefore to develop appropriate concepts to increase the precision. Finally, the control algorithms were implemented on the servo as a C# real time application. Beside a conventional PI position controller, a so called active damping for the supression of resonant oscillations, as well as a compensation of the gear transmission error have been implemented. By this means a maximum load position error of 150µrad could be achieved. Based on the results of this Thesis a proposal for a optimized mechanical setup was developed. IX","author":[{"propositions":[],"lastnames":["Baumgartner"],"firstnames":["Marc"],"suffixes":[]},{"propositions":[],"lastnames":["Christen"],"firstnames":["Rouven"],"suffixes":[]}],"institution":"Master Thesis, University of Applied Science Buchs","keywords":"Control,Dynamic Precision,Harmonic Drive,Modelling","mendeley-tags":"Control,Dynamic Precision,Harmonic Drive,Modelling","pages":"1–76","title":"Modellbasierte Folgeregelung einer hochpräzisen rotativen Achse","year":"2012","bibtex":"@misc{Baumgartner2012,\nabstract = {The goal of this Thesis is the development of control concepts for a high precision position tracking application, with a maximal dynamic tracking error of 50µrad. For this purpose, the company Hexagon Metrology designed a mechanical setup, which is based on the results of a preceding Master Thesis [Hausammann 11]. The torque is generated by a permanent magnet synchron machine (PMSM) and transfered to the load through a Harmonic Drive gear. On the load side two hybrid spindle ball bearings are incorporated. The two angular encoders on each side of the Harmonic Drive gear are supplemented by a Ferraris acceleration sensor on the load side. A Triamec servo controller with a PWM frequency of 100 kHz, forms the electrical part of the whole system. Within this work a detailed modell of the system, including the relevant non-linearities, is derived using Matlab and Simulink. Thereby, the simulation results are verified using the described hardware and the modell is refined in several iterations. This allows to gain a better understanding of the existing effects and therefore to develop appropriate concepts to increase the precision. Finally, the control algorithms were implemented on the servo as a C{\\#} real time application. Beside a conventional PI position controller, a so called active damping for the supression of resonant oscillations, as well as a compensation of the gear transmission error have been implemented. By this means a maximum load position error of 150µrad could be achieved. Based on the results of this Thesis a proposal for a optimized mechanical setup was developed. IX},\nauthor = {Baumgartner, Marc and Christen, Rouven},\ninstitution = {Master Thesis, University of Applied Science Buchs},\nkeywords = {Control,Dynamic Precision,Harmonic Drive,Modelling},\nmendeley-tags = {Control,Dynamic Precision,Harmonic Drive,Modelling},\npages = {1--76},\ntitle = {{Modellbasierte Folgeregelung einer hochpr{\\\"{a}}zisen rotativen Achse}},\ntype = {Master Thesis},\nyear = {2012}\n}\n","author_short":["Baumgartner, M.","Christen, R."],"key":"Baumgartner2012","id":"Baumgartner2012","bibbaseid":"baumgartner-christen-modellbasiertefolgeregelungeinerhochprzisenrotativenachse-2012","role":"author","urls":{},"keyword":["Control","Dynamic Precision","Harmonic Drive","Modelling"],"metadata":{"authorlinks":{}},"downloads":0,"html":""},"bibtype":"misc","biburl":"https://bibbase.org/network/files/ZwK3qc5SLwytHuQJN","dataSources":["L2DJRhPTtq8wNcBFK"],"keywords":["control","dynamic precision","harmonic drive","modelling"],"search_terms":["modellbasierte","folgeregelung","einer","hochpr","zisen","rotativen","achse","baumgartner","christen"],"title":"Modellbasierte Folgeregelung einer hochpräzisen rotativen Achse","year":2012}