Harmonic modulated feedback in control to lower oscillations in mechatronic systems

In this contribution we'll introduce a new control structure for mechatronic drives. Such a drive combines motor, gear-box, electronics as well as control to one module. In light-weight applications like robotics as well as in general automation industry, the end-effector prone to oscillate due to a relatively low system damping. For “transient”-effects methods like input shaping or posicast-control can reduce or even eliminate an unwanted oscillation. Additionally “semi-stead-state”-effects can arise an oscillation two. Therefor the relatively new method of harmonic modulation can be applied. We now focus on a control structure where these techniques are joined together. In many applications the set-point generation is done by a host system (e.g. PLC) and transfered to the drive. Hence, we seek a control structure for the mechatronic drive without affecting the set-point generation process. Further, the advantage of this new structure will be shown along measurement results.