Editing Dead-time distortion
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Some of most notable motion control problems caused by DTD: | Some of most notable motion control problems caused by DTD: | ||
* Unwanted ripple in torque that may reduce motion smoothness | * Unwanted ripple in torque that may reduce motion smoothness | ||
− | * Causes "electrical backlash" or laziness | + | * Causes "electrical backlash" or laziness for motor control. With DTD, motor reaction time is significantly increased whenever current direction is reversed (such as motor is reversing direction). This increases tracking error of servo motor. |
− | * More difficulty in servo tuning | + | * More difficulty in proper servo tuning |
* Reduced servo stiffness | * Reduced servo stiffness | ||
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===Distortion elimination=== | ===Distortion elimination=== | ||
The bottom image shows the exactly same experiment with the one above but this time [[Argon (servo drive)]] dead time correction was turned on. Notice how dips almost completely disappear and PWM duty cycle setpoint shows more sine-like waveform. | The bottom image shows the exactly same experiment with the one above but this time [[Argon (servo drive)]] dead time correction was turned on. Notice how dips almost completely disappear and PWM duty cycle setpoint shows more sine-like waveform. | ||
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