Author: Stephenson, M.
Paper Title Page
MOM312
 A Model-Based Approach to Motion Control Design at the Australian Synchrotron  
 
  • N. Afshar
    ASCo, Clayton, Victoria, Australia
  • C. Glover, P. Kappen, P. Martin, E.L. Shepherd
    SLSA, Clayton, Australia
  • M. Stephenson
    ANSTO, Menai, New South Wales, Australia
  
  The so­phis­ti­ca­tion and flex­i­bil­ity of ver­sa­tile mo­tion con­trollers often im­plies com­plex and po­ten­tially dif­fi­cult con­fig­u­ra­tion and tun­ing processes. This de­mands highly spe­cialised en­gi­neer­ing and sys­tem man­age­ment ef­forts to meet per­for­mance re­quire­ments and process main­tain­abil­ity. To ad­dress these chal­lenges, a model-based ap­proach is used to pro­vide a frame­work for gen­er­al­is­ing and for­mu­lat­ing mo­tion con­trol sys­tems which clas­si­fies ap­pli­ca­tions and sug­gests op­ti­mum motor con­fig­u­ra­tion and tun­ing based on de­sign in­puts and spec­i­fi­ca­tions. The frame­work also in­cludes a dy­namic Simulink® model which mod­els the Geo­Brick® and the PMAC con­fig­u­ra­tion, step­per/servo mo­tors, me­chan­i­cal stages, en­coders and ca­bling. This model is used for tun­ing and val­i­dat­ing con­fig­u­ra­tions with mod­eled mo­tors, load con­di­tions, en­coders, etc. at de­sign time prior to pur­chases. The model and frame­work de­vel­oped has been ap­plied suc­cess­fully to more than 110 mo­tion axes at dif­fer­ent beam­lines to de­sign or up­grade mo­tion con­trollers re­sult­ing in highly im­proved re­li­a­bil­ity and per­for­mance. Con­fig­u­ra­tion man­age­ment, de­ploy­ment and com­mis­sion­ing processes are sig­nif­i­cantly im­proved at the same time.  
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