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Analysis of Velocity Estimation Methods for High-Performance Motion Control Systems
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
2018 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The majority of all commercial electronics hardware is manufactured usingSurface Mount Technology (SMT). Nevertheless, the increased complexityand miniaturization of electronics impose tough performance requirementson the automation process.The research in this paper concerns test and analysis of alternative velocityestimation methods for high-performance embedded motion control systems.The motion system in Mycronic’s pick and place machines is regulated by amotion controller consisting of a feedforward component and a feedback controller.The linear displacement is measured with an incremental encoder andthe velocity is estimated with a state observer. Previous work suggests thatthe velocity estimation is inadequate.Different observer designs including state and disturbance estimators weretested and evaluated through simulations in MATLAB SIMULINKr. Afterthat, experiments were performed on a conveyor retrieved from a pick andplace machine.The results show that a Kalman filter is the best state estimator. However,the method requires extensive tuning to attain good performance. The trackingperformance and robustness of the motion control system was highly improvedwhen using a Perturbation observer with Kalman filtering. Nonetheless,the settling time for point-to-point movements was somewhat shorterwhen using a Kalman filter alone.

Abstract [sv]

Majoriteten av all kommersiell elektronikhårdvara tillverkas med ytmonteringsteknik.Ökad komplexitet och miniatyrisering av elektronik medför hårdaprestandakrav på automationsprocessen.Denna rapport behandlar test och analys av alternativa hastighetsestimeringsmetoderför inbyggda högpresterande rörelsekontrollsystem. Rörelsesystemeti Mycronics pick- and placemaskiner regleras med fram- och återkoppling.Den linjära förskjutningen mäts upp med en pulsgivare och estimering av hastighetensker med hjälp av en tillståndsobservatör. Tidigare studier indikeraratt hastighetsestimeringen är bristfällig.Diverse tekniker för rekonstruktion av tillstånd har testats och utvärderats viasimulering i MATLAB SIMULINKr. Därefter utfördes experiment på ett transportbandhämtat från en pick- and placemaskin.Resultaten påvisar att ett Kalmanfilter är den bästa tillståndsobservatören.Metoden kräver emellertid omfattande parameterjustering för att uppnå braprestanda. Robustheten samt referensspårningen förbättrades nämnvärt då enPertubation-observatör med Kalmanfiltrering användes. Däremot var insvängningstidennågot kortare då ett Kalmanfilter nyttjades enskilt.

Place, publisher, year, edition, pages
2018. , p. 45
Series
TRITA-EECS-EX ; 2018:108
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-231848OAI: oai:DiVA.org:kth-231848DiVA, id: diva2:1230367
External cooperation
Mycronic AB
Educational program
Master of Science - Aerospace Engineering
Examiners
Available from: 2018-07-03 Created: 2018-07-03 Last updated: 2018-07-03Bibliographically approved

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