NEAR REAL TIME SYSTEM IDENTIFICATION OF SERVO SYSTEMS USING FREQUENCY DOMAIN ANALYSIS

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Thesis Type: Postgraduate

Institution Of The Thesis: Middle East Technical University, Graduate School of Natural and Applied Sciences, MAKİNE MÜHENDİSLİĞİ ANABİLİM DALI, Turkey

Approval Date: 2022

Thesis Language: English

Student: EMRE GEYİK

Principal Supervisor (For Co-Supervisor Theses): Ali Emre Turgut

Co-Supervisor: Mehmet Bülent Özer

Open Archive Collection: AVESIS Open Access Collection

Abstract:

Servo systems control the rotation angle or displacement of the machinery in order to follow reference input commands within required error limits. A typical servo system includes rotating or translating inertia, coupler elements, driver motor and feedback sensor. Mechanical characteristics of a servo system have considerable importance as to satisfy desired performance of the system. In this thesis, a practical method to monitor mechanical characteristics of a servo drive is suggested. Invariance of system parameters is required for classical servo systems to operate within their respective design conditions. However, as operational time increases, systems are subjected to changes in their mechanical properties. By implementing the methods derived in this thesis, such changes can be tracked and addressed before severe system failures occur. In order to realize the aforementioned monitoring ability, a theoretical model is established and related equations are derived. Then the study is extended to experimental verification of the suggested method. It is shown that the theoretical model agrees with test results.