Editing Servo tuning basics
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− | + | Driving a servo motor is much like driving a car. Driving a car has many similarities including the key concepts of torque, velocity and position control. Most of this happens in the driver's head the same way than a servo drive does with a motor. | |
− | + | ==Driving (a.k.a servoing) a car== | |
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− | ==Driving (a.k.a servoing) a car== | + | |
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[[File:Carexample base.png|800px]] | [[File:Carexample base.png|800px]] | ||
− | + | ==Driver as a controller== | |
− | + | ===What is a controller gain and a PI controller=== | |
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Controller gain means '''sensitivity to change output''' due to ''tracking error'' (the difference between setpoint and feedback). | Controller gain means '''sensitivity to change output''' due to ''tracking error'' (the difference between setpoint and feedback). | ||
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In servo drive case, this means that each motor type and mechanical axis need to be tuned separately. However, if axis and motors are identical, then the same gains should work equally. | In servo drive case, this means that each motor type and mechanical axis need to be tuned separately. However, if axis and motors are identical, then the same gains should work equally. | ||
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==Gain tuning (car) example== | ==Gain tuning (car) example== | ||
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===Low gains - sluggish response=== | ===Low gains - sluggish response=== | ||
[[File:Carexample sluggish.png|800px]] | [[File:Carexample sluggish.png|800px]] | ||
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The response can be improved further by introducing a limit to the slew rate of setpoint signal. The controller behaves optimally when the system is able to follow the setpoint continuously with little tracking error. In this case the gains could be same as before, P=50 I=25. | The response can be improved further by introducing a limit to the slew rate of setpoint signal. The controller behaves optimally when the system is able to follow the setpoint continuously with little tracking error. In this case the gains could be same as before, P=50 I=25. | ||
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