TY - CHAP A1 - Höllthaler, Julia A1 - Hagl, Rainer A1 - Kennel, Ralph T1 - Bandwidth Improvements of Linear Direct Drives with a 100 kHz PWM-Frequency T2 - 2019 12th International Symposium on Linear Drives for Industry Applications (LDIA), Neuchatel, Switzerland N2 - A calculation method for a robust servo controller design depending on the sampling time and the processing dead time was developed for mechanically stiff drives. With a test stand for high dynamic and high positioning accuracy, the theoretical calculations for the high bandwidth improvements are verified. The test stand includes a voice coil motor and a power electronic with Gallium Nitride (GaN) power semiconductors for switching frequencies of more than 100kHz. KW - bandwidth KW - position control KW - linear servo drives KW - GaN power semiconductors KW - FPGA Y1 - 2019 UR - https://doi.org/10.1109/LDIA.2019.8771013 ER - TY - CHAP A1 - Höllthaler, Julia A1 - Hagl, Rainer A1 - Kennel, Ralph T1 - Bandwidth Improvements for Current Control Loops with a 100 kHz PWM Frequency and GaN Power Semiconductors T2 - 2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), Hiroshima, Japan N2 - A discrete-time design method for a robust current controller of a servo drive has been developed. It takes the sampling time, the processing dead time and the dynamic behavior of the A/D converter into account. The theoretical calculations are verified using a test stand for high dynamics. The test stand includes a voice coil motor and power electronics with Gallium Nitride (GaN) power semiconductors for switching frequencies of more than 100 kHz. The bandwidth of the current control loop can be improved from typically 1 kHz to 1.5 kHz with insulated-gate bipolar transistor (IGBT) power semiconductors in state-of-the-art motion control systems to 10 kHz and more. KW - bandwidth KW - current control KW - servo drives KW - GaN power semiconductors KW - FPGA Y1 - 2019 UR - https://doi.org/10.23919/SICE.2019.8859873 ER - TY - CHAP A1 - Höllthaler, Julia A1 - Hagl, Rainer A1 - Kennel, Ralph T1 - Influence of the PWM Frequency on Dynamic and Position Stability of Servo Drives T2 - 25th International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), Virtual Meeting N2 - The dynamic behavior and position stability of servo drives are influenced by many parameters. One major influencing parameter is the pulse width modulation (PWM) frequency. With inverters based on wide bandgap semiconductors, the PWM frequency can be increased. This enables a substantial increase in the current control bandwidth. The paper focuses on the influence of the PWM frequency on the dynamics of control loops and position stability, which are derived from theoretical correlations. The theory is verified using a test bench for high dynamic and position stability. The test bench is equipped with a voice coil motor and power electronic with gallium nitride (GaN) power semiconductors for switching frequencies of 100kHz and over. The achieved position stability, measured with a laser-based comparator at the tool center point, is lower than "+-1nm" with a standard deviation of "0.16nm" at a PWM frequency of "f_PWM=100kHz". KW - bandwidth Y1 - 2020 ER - TY - CHAP A1 - Höllthaler, Julia A1 - Hagl, Rainer T1 - Plattformunabhängige modellbasierte Entwicklung von hochdynamischen Antriebsregelungen T2 - MATLAB EXPO 2017 Deutschland, München, 27. Juni 2017 KW - Elektrische Antriebssysteme KW - Leistungselektronik  KW - hochdynamische Antriebsregelungen Y1 - 2017 ER - TY - THES A1 - Höllthaler, Julia T1 - Hochdynamische Miniaturantriebe mit hoher Positionsgenauigkeit N2 - In der vorliegenden Arbeit werden die Grenzen eines Miniaturantriebs bezüglich hoher Dynamik bei gleichzeitig hoher Positionsgenauigkeit untersucht. Dabei wird das Gesamtsystem betrachtet und optimiert. Es wird ein vollständig zeitdiskretes Modell erarbeitet und die maximal mögliche Bandbreite bestimmt. Außerdem werden Einflussfaktoren wie Positionsauswertung, Digitalisierung der Rückführgrößen und digitale Pulsweitenmodulation untersucht. Es wird ein Miniaturantrieb aufgebaut, mit dem die hohe Dynamik und eine Positionsstabilität im Subnanometer Bereich nachgewiesen werden kann. N2 - In this work, the limitations of a miniature drive concerning high dynamics with coincident high position accuracy are examined. Therefore, the entire system is considered and optimized. A complete discrete time model is developed and the maximum possible bandwidth is determined. Influencing parameters such as position evaluation, digitization of the feedback variables and digital pulse width modulation are examined. A miniature drive is developed in order to realize and verify high dynamics and position stability in sub nanometer range. T2 - High Dynamic Miniature Drives with High Position Accuracy Y1 - 2023 UR - https://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:91-diss-20220719-1621605-1-8 ER -