Page 237 - Servo Motors and Industrial Control Theory -

236 Index

possible applications of, 132–134 L
properties of, 131, 141 Laplace Transform, 39, 46, 47, 72, 118
valves, 132 Lead-lag action, 40
Error equation, 47 Lead-lag network, 27, 42, 43, 49, 75, 85, 89,
Error signal, 108, 113 125, 145
Excitation frequency, 136 Lead-lag time constants, 145
Linearization technique equation, 117
F Linearized model, 124, 127
Feedback Control Theory, 49, 56, 58, 63, 89 Load inertia, 75, 78, 79, 125, 145, 152
Feedback gains, 158 effect of, 143, 149, 153
Feedback loop, 27, 41, 42 Low pass filter, 125
Feedback sensors, 69 Lucas Fluid Power, 124
Feedback signal, 41
Feedback velocity, 70 M
Fifth-order transfer function, 125, 130 Magnetic brake, 139
Final value theorem, 46, 47 Magnetic pull
Firing angle, 83–85, 87 principle of, 151
First-order lag transfer function, 33 Mass–spring–damper system, 38
First-order transfer function, 111 MathCAD, 21, 22, 24, 26, 27, 44, 46, 54, 63,
Flow equation, 115, 118, 119, 122, 129 71, 78, 89, 130
Fluid density, 117 Mathematical modeling, 124, 146
Following error, 48, 72, 73 MatLab, 22
Fractional slip, 102 Mechanical damping, 75, 96, 97
Frequency response, 17, 31–33, 36, 37, 120, Mechanical losses, 124
121 Mechanically controlled servo system,
116–119
G Motor inertia, 69, 71, 78, 151
Gain margin, 34, 35, 37
Gain vector, 57, 61, 63 N
Gears, 40 Natural frequency, 71, 73, 96, 118, 121, 129,
138
H Negative feedback control, 38, 41
Harmonic excitation, 110, 111 Newton’s second law of motion, 150
Hydraulic axial piston motor, 124 Nonlinear flow equation, 115, 129
Hydraulic jack, 116, 117 Numerical integration method, 53
Hydraulic power, 143 Numerical investigation, 130
disadvantage of, 115 Nyquist diagram, 75
Hydraulic servo motors, 121–124 Nyquist plot, 31–37

I O
Identification technique, 121, 131, 136, 138, Observability, 56, 61–63
140 Observer equation, 60, 61
Inductance, 20, 49, 68, 72, 74, 88, 89, 97, 105, OP-AMP See Operational amplifiers, 40
108 Open loop transfer function, 19, 20, 22, 23,
Inertia of motor, 69 31–34, 36, 37, 45, 46
Instrumentations error, 140 Operational amplifiers, 40
Optimization procedure, 145
J
Jack movement, 118 P
Partial fraction method, 130
Phase lag, 34, 120
K Phase margin, 34, 35, 37
Kalman Filter, 61
Position error, 127