Editing Granity user guide/Tuning

Jump to: navigation, search
Your changes will be displayed to readers once an authorized user accepts them. (help)

Warning: You are not logged in. Your IP address will be publicly visible if you make any edits. If you log in or create an account, your edits will be attributed to your username, along with other benefits.

The edit can be undone. Please check the comparison below to verify that this is what you want to do, and then save the changes below to finish undoing the edit.

This page supports semantic in-text annotations (e.g. "[[Is specified as::World Heritage Site]]") to build structured and queryable content provided by Semantic MediaWiki. For a comprehensive description on how to use annotations or the #ask parser function, please have a look at the getting started, in-text annotation, or inline queries help page.

Latest revision Your text
Line 1: Line 1:
−
{{SetGranityTabPageTitle|Tuning}}[[File:GranityTuning.png|thumb]]
 
 
Tuning  tab serves following purposes:
 
Tuning  tab serves following purposes:
 
* Adjust torque control bandwidth
 
* Adjust torque control bandwidth
 
* Tune velocity controller gains
 
* Tune velocity controller gains
 
* Tune position controller gains
 
* Tune position controller gains
−
 
−
See also:
 
−
*[[Servo motor tuning guide]] - procedures for finding optimal parameter values
 
−
*[[Signal path of motor drive]] - an illustration of how drive processes various signals and parameters
 
−
*[[Drive fault handling]]
 
 
==Parameters==
 
==Parameters==
 
===Torque controller===
 
===Torque controller===
Line 15: Line 9:
 
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 
|-
 
|-
−
| TBW ||  Torque bandwidth limit || Sets the [http://en.wikipedia.org/wiki/Low-pass_filter low pass filter] frequency for torque controller [[setpoint signal]] || Limiting torque bandwidth to a certain level may have several advantages:
+
| ||  || ||
−
*Improve tuning of velocity or position mode
+
−
*Reduce motor audible noise <sup>1</sup>
+
−
*Smoothen motion
+
−
Try various values to find the optimum for your system. Typically higher value allows setting higher velocity and position P gains giving more servo stiffness. Typically the optimum bandwidths are between 220-1500 Hz.
+
−
 
+
−
If you wish to check torque controller step response in [[Granity user guide/Testing|testing tab]], then before testing set this value to maximum and also untick Goals/CIS.
+
−
|}
+
−
 
+
−
<sup>1</sup>) The best things to try are: reduce MR and ML parameter values and use TBW parameter value 100-680hz. I.e. Try reducing MR/ML by 50% or more. Reduction on these values affect directly the torque controller gains, and every time the values are halved, noise reduces 6dB but you’ll also lose some torque bandwidth. Luckily the full 3khz+ bandwidth is not necessary in most cases, so effect might be just reduction of noise. Setting TBW to 100-680 Hz activates software filtering of current sense signals thus it will also reduce the hiss.
+
−
 
+
−
===Velocity controller gains===
+
−
{| class="wikitable"
+
 
|-
 
|-
−
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
+
|  ||  || ||
 
|-
 
|-
−
| KVP || Velocity P gain || The proportional gain of velocity controller || rowspan=4|See [[Servo motor tuning guide]].
+
| || || ||
 
|-
 
|-
−
| KVI || Velocity I gain || The integral gain of velocity controller
+
| ||  || ||
 
|-
 
|-
−
| VFF || Velocity feed-forward gain || Velocity feed-forward gain
+
| ||  || ||
 
|-
 
|-
−
| AFF || Acceleration feed-forward gain || Acceleration feed-forward gain
+
| || || ||
 +
|-
 +
|  ||  || ||
 
|}
 
|}
−
 
+
===Velocity controller gains===
−
===Position controller gains===
+
 
{| class="wikitable"
 
{| class="wikitable"
 
|-
 
|-
 
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 
|-
 
|-
−
| KPP || Position P gain || The proportional gain of position controller || See [[Servo motor tuning guide]].
+
| || || ||
 
|-
 
|-
−
| PFF || Position feed-forward gain || Sets feed foward gain from position setpoint to velocity setpoint || Adjust to minimize position response [[overshooting]].
+
| || || ||
 
|-
 
|-
−
| AD || Anti-dither || Motor dithering/zero error hunting reduction function (in current firmware: no effect) || Useful in future firmware
+
| || || ||
 +
|-
 +
|  ||  || ||
 +
|-
 +
|  ||  || ||
 +
|-
 +
|  ||  || ||
 +
|-
 +
|  ||  || ||
 
|}
 
|}
−
 
+
===Position controller gains===
−
===Torque cogging & ripple compensation===
+
 
{| class="wikitable"
 
{| class="wikitable"
 
|-
 
|-
 
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 
! Short [[GUI]] name !! [[GUI]] name !! Description !! How to use
 
|-
 
|-
−
| TRF1 || Cogging compensation function || Selects the function of compensator || rowspan=4| See [[Configuring cogging torque compensation]]
+
| || || ||
 +
|-
 +
| || || ||
 +
|-
 +
|  ||  || ||
 
|-
 
|-
−
| TRA1 || Cogging compensation current|| Adjusts the amplitude of summed compensating torque command
+
| ||  || ||
 
|-
 
|-
−
| TRF2 || Torque ripple compensation function || Selects the function of compensator
+
| ||  || ||
 
|-
 
|-
−
| TRA2 || Torque ripple compensation amplitude || Adjust the modulation depth of compensator 
+
| ||  || ||
 
|-
 
|-
 +
|  ||  || ||
 
|}
 
|}
−
 
−
{{next|[[Granity user guide/Fault limits]]}}
 
−
 
−
[[Category:Granity_user_guide]]
 

Please note that all contributions to Granite Devices Knowledge Wiki may be edited, altered, or removed by other contributors. If you do not want your writing to be edited mercilessly, then do not submit it here.
You are also promising us that you wrote this yourself, or copied it from a public domain or similar free resource (see Granite Devices Knowledge Wiki:Copyrights for details). Do not submit copyrighted work without permission!

Select categories:

To edit this page, please answer the question that appears below (more info):

Cancel | Editing help (opens in new window)

Templates used on this page:

Retrieved from "https://granitedevices.com/wiki/Granity_user_guide/Tuning"