TY - CHAP A1 - Hilverkus, Johannes A1 - Markl, Markus A1 - Hagl, Rainer A1 - Kennel, Ralph T1 - Influence of Frequency Dependent Motor Resistance and Inductance on the Current Control Loop Design of Servo Drives T2 - 2021 IEEE 30th International Symposium on Industrial Electronics (ISIE) N2 - Servo drives in production machines are either position-, speed-, force- or torque-controlled. As the motor current is proportional to torque or force, the current control loop dynamics is crucial for all operating modes. In production machines used in the semiconductor industry, it is particularly important that the bandwidths of the control loops are continuously increased. It is thus important to take the dependency of motor resistance and inductance on frequency in control loop design into consideration. As the switching frequencies of wide-bandgap semiconductors increase, the effect becomes even more significant. This paper discusses the influence of frequency-dependent resistance and inductance on the behavior of a PI current controller. A design method for an optimized and robust current controller is then presented on this basis. Verification is performed with two completely different servo motors-a 3-phase permanent magnet synchronous motor and a high-dynamic optimized voice-coil motor. Y1 - 2021 U6 - https://doi.org/10.1109/ISIE45552.2021.9576370 SP - 1 EP - 7 ER - TY - CHAP A1 - Märkl, Markus A1 - Hagl, Rainer A1 - Heldwein, M. T1 - Noise Reduction for Sub-Nanometer Position Stability in High Dynamic Linear Drives T2 - 14th International Symposium on Linear Drives for Industry Applications (LDIA) Y1 - 2023 SP - 1 EP - 5 ER - TY - CHAP A1 - Linner, Thomas A1 - Märkl, Markus A1 - Künzner, Florian A1 - Hagl, Rainer T1 - Analyzing and Optimizing Fixed-Point Operations on a MATLAB Simulink based Motion Control System T2 - 2023 10th International Conference on Electrical Engineering, Computer Science and Informatics (EECSI) N2 - This paper deals with the analysis and optimization of fixed-point operations in the context of motion control systems and the MathWorks MATLAB® Simulink® environment. It presents a procedure for estimating the maximum arithmetic error of fixed-point operations inside a modeled control loop, which can be used to verify compliance with a defined precision. Additionally, it shows the results of a runtime analysis for different numerical data types in combination with two fixed-point operations: addition and multiplication. In order to improve the fixed-point performance for MATLAB® Simulink® models, two optimized implementations are provided, which can improve the fixed-point operations by a factor up to 3, compared to the automatically generated operation implementations. The paper results are based on the MATLAB® R2022b release. KW - Codes KW - fixed-point optimization KW - Hardware KW - Mathematical models KW - model-based design KW - Motion planning KW - Numerical models KW - precision motion control KW - real-time KW - Runtime KW - Software packages Y1 - 2023 U6 - https://doi.org/10.1109/EECSI59885.2023.10295686 SP - 486 EP - 492 ER -