Editing Servo tuning basics
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*All actions the driver makes, is based on comparing the setpoints and the actual state | *All actions the driver makes, is based on comparing the setpoints and the actual state | ||
− | == | + | ==Driver as a controller== |
− | === | + | ===What is a controller gain and a PI controller=== |
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== | ||
The following series of images illustrate an imaginary car driving scenario where the driver acts as velocity controller of the car. The magnitude of PI gain values equal the driver's aggressivity of controlling the pedal to reach the desired speed. | The following series of images illustrate an imaginary car driving scenario where the driver acts as velocity controller of the car. The magnitude of PI gain values equal the driver's aggressivity of controlling the pedal to reach the desired speed. | ||
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See the principles of real world servo motor drive from article [[Signal path of motor drive]]. | See the principles of real world servo motor drive from article [[Signal path of motor drive]]. | ||
{{next|[[Tuning torque controller]]}} | {{next|[[Tuning torque controller]]}} | ||
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