ROTARY MOTION SELECTED CONTROL METHODS ANALYSIS FOR PADDLE SORTERS ARMS

Abstract eng:
The paper presents the research results of two methods for the paddle sorter rotary motion control used in the sorting process of the objects transported on a conveyor belt. The paddle sorter arm is driven by a set of servo which consists of a servomotor and a servo drive where motion control is carried out using the voltage pulses generated by microcontroller board, designed by the author. In the control of the paddle sorter motion the smallest possible acceleration achievement is important while the assumed trajectory tracking error obtains permissible value. It turned out that open loop motion control method based on IIR filter (Infinite Impulse Response) is a better solution than PLL motion control (Phase Locked Loop) due to the lower extreme acceleration obtainment at the same assumed permissible trajectory error.

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