MECHATRONICS Lecture 06 Slovak University of Technology Faculty of Material Science and Technology in Trnava

CONTROL On account of the stronger internal couplings because of the volume integration, the integrated multicoordi-nate motor is a very complex system, the potential of which can only be exploited with powerful hardware and software. From control engineering viewpoint, the multicoordinate drive is a three-variable system (x, y,  z ), with two states in each case (displacement, speed) per controlled variable.

Coupling structure of the control loop

OPEN-LOOP CONTROL HARDWARE STRUCTURE OF THE CONTROL

CLOSED-LOOP CONTROL

Used for each of the three axes are incremental single-parameter controllers, the structure of which is determined by the minimizing of the quality functional where N - length of the optimization horizon q - weighting of the control error r - weighting of the change in the manipulated variable e - control error u - manipulated variable k - current sampling point of the control i - running variable of the optimization horizon under the secondary condition of the system equation to give where x - state vector of the control coefficients of the state feedback l - vector of the control coefficients of the state feedback m - controller coefficient of the control error.

FIELDS OF APPLICATION High speed laser cutting and engraving systems of extreme accuracy, Measuring systems with optical and mechanical scanning, Microassembly systems, Wafer inspection and machining. In one application, 100 micro-bores with a diameter of 200  m and accuracy of  0.5  m were cut in a 0.2mm thick steel sheet with a laser in 19 seconds.