Abstract

Single axis motion is often regarded as the simplest control case. However challenging single axis problems are found in many industrial applications. Challenges include motion merging as well as electronic gearing with boundary cases. Motion merging involves matching speed to a high inertia, free-moving mass which is not being controlled, acquiring control, and realizing a destination position with minimum force disturbances. Electronic gearing appears straight-forward until the boundary cases of velocity and position limits are considered. These example problems become challenging because of interdependence between master and slave motion and transitions during motion. Solutions are presented along with a discussion of controller attributes that simplify implementation.

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