Motion Control Tuning - Mechatronics Academy

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programs were transferred to external parties. Currently, all former Philips ... Time domain tuning - theory & hands
Motion Control Tuning

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Contents Mechatronics Training Curriculum

Details of Course Motion Control Tuning

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Mechatronics Training Curriculum Workshop Mechatronics System Design

Premium

Advanced

Standard

Advanced Motion Control (5 days)

Advanced Feedforward Control (3 days)

Motion Control Tuning (6 days)

Design Principles Masterclass (8 sessions)

Design Principles Basics (5 days)

Advanced Mechatronic System Design (6 days)

Design for Additive Manufacturing (3 days)

Design for Ultra Clean Vacuum (4 days)

Dynamics and Modelling (3 days)

Experimental Techniques in Mechatronics (3 days)

Metrology & Calibration of Mechatronic Systems (3 days)

Mechatronics System Design – part 2 (5 days)

Basic Mechatronics System Design – part 1 (5 days)

Start

www.mechatronics-academy.nl

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Actuation and Power Electronics (3 days)

Machine Vision in Mechatronic Systems (2 days)

Thermal Effects in Mechatronic Systems (3 days) Summer School Opto Mechatronics (5 days)

* Relevant partner trainings: Applied Optics, Electronics for nonelectrical engineers, System Architecture, Soft skills for technology professionals, …

Mechatronics Training December 31, 2009 Philips decided to stop all its training activities, which were carried out by the Philips Centre for Technical Training (CTT), and all training programs were transferred to external parties.

Currently, all former Philips trainings (and more) are offered to the market under the umbrella of The High Tech Institute (www.hightechinstitute.nl). Content partner for all Mechatronics courses is Mechatronics Academy B.V. (www.mechatronics-academy.nl) which is set-up and supervised by : Professor Dr.ir. Jan van Eijk Professor Dr.ir. Maarten Steinbuch Dr.ir. Adrian Rankers

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Motion Control Tuning

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Course Directors / Trainers Course Director(s) • Prof.dr.ir. M. Steinbuch • Dr.ir. A.J.J. van der Weiden

Teachers

• TU/Eindhoven: • Prof.dr.ir. M. Steinbuch, Dr. ir. T. Oomen, Dr. ir. P. Nuij, • Dr.ir. J.J. Bolder, Ir. T. Gommans, Ir. R. van der Maas

• Other: • Dr.ir. A.J.J. van der Weiden • Dr.ir. E.P. van der Laan (Philips Innovation Services)

• Dr.ir. M.J.M. van de Wal (ASML) • Dr..ir. D. Rijlaarsdam (NTS) • Ir. F.B. Sperling (Nobleo) • Ir. M. Vervoordeldonk (ASML) • Dr.ir. G. Witvoet (TNO) • Dr.ir. A.M. Rankers (Mechatronics Academy) Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Program Day

Timing

Topic

Trainers

1

Morning

• Introduction / Who is who / Program / Goals… • Basic Modelling

Steinbuch Rankers

Afternoon

• Time domain tuning - theory & hands-on practice

Nuij

Morning

• Frequency domain

Vervoordeldonk

Afternoon

• Stability

Van der Weiden a.o.

Morning

• Frequency response measurements – theory & hands-on practice

Oomen / Bolder

Afternoon

• Mechatronics

Sperling

Morning

• Filters

Witvoet

Afternoon Evening

• Loopshaping game • Dinner

Van der Weiden / v.d. Maas / Gommans

Morning

• Design for performance

v.d. Wal

Afternoon

• Feedforward – theory & hands-on practice

Vd Laan/ Bolder

Morning

• Learning control • Non-linear identification / feedforward

Oomen Rijlaarsdam

Afternoon

• Motion control research • Interaction in control systems

Steinbuch Van der Weiden

2

3

4

5

6

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

7

Day 1 (morning): Intro / Basic Modelling r u y w

= reference speed = throttle angle, degrees = actual speed, mph = road grade, %

w

Introduction / Goals

0.5

Modelling of motion systems

Controller r

+



100

-

u +



10

y

y = 0.999r - 0.005w

With feedback w 0.5 Controller r

1/10

Without feedback

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

u +



10

y

y = r - 5w

Day 1 (afternoon): Time domain tuning Tuning in time domain

Theory & Hands-on Matlab/Simulink + exp. setup

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Day 2 (morning): Frequency domain Frequency domain Transfer function Frequency response function

Physical interpretation

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Day 2 (afternoon): Stability Introduction

Intro stability in the time domain Intro stability in the frequency domain Nyquist stability criterion Stability margins Modulus margin

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Day 3 (morning): FRF measurements Linear systems

Non-parametric identification Open loop Closed loop (direct/indirect)

Enhancing estimation quality

Autopower/Crosspower Coherence

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Day 3 (afternoon): Mechatronics Conceptual dynamics & servo control

Modelbuilding Servo control basics Key specifications for 0.2 μm lithography Case: stepper concepts

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Day 4 (morning): Filters PID

Lead/Lag General second order Second order notch Low pass filter Phase turning filter

Tuning Exercise with SHAPE-IT !

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Day 4 (afternoon): Tuning Game GO for the highest bandwidth. Winning team gets bottle of wine !

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Day 5 (morning): Design for performance Waterbed effect

Bandwidth definitions High-gain feedback Requirements + disturbance + system => best controller

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Day 5 (afternoon): Feed forward Feedback vs. Feedforward

General feefforward scheme Practical guidelines Hands-on exercise

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Printer demo

Day 6 (morning): Special topics-1 Learning Feedforward + Demo Non-linear identification / FF TEM sample manipulation

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Day 6 (afternoon): Special topics-2 Motion Control Research MiMo systems Interaction analysis Sequential loop closure MiMo design decoupling

model based multivariable control design

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

Sign-up for this training Via the website of our partner The High Tech Institute

Motion Control Tuning – overview (v2.1) Adrian M. Rankers

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