Difference between revisions of "Servo tuning basics"

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===Low feedback gain, sluggish response===
 
===Low feedback gain, sluggish response===
 
[[File:Carexample sluggish.png|800px]]
 
[[File:Carexample sluggish.png|800px]]
===Too high feedback gain, instability===
+
===Too high feedback gain, oscillation & instability===
 
[[File:Carexample unstablepng.png|800px]]
 
[[File:Carexample unstablepng.png|800px]]
===Optimum feedback gain, performance===
+
===Optimum feedback gain, only little overshoot===
 
[[File:Carexample stable.png|800px]]
 
[[File:Carexample stable.png|800px]]
 +
===Optimum gain with realistic setpoint, optimum response===
 +
[[File:Carexample response accellimit.png|800px]]

Revision as of 08:38, 12 August 2013

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

Carexample base.png

Driver as a controller

Low feedback gain, sluggish response

Carexample sluggish.png

Too high feedback gain, oscillation & instability

Carexample unstablepng.png

Optimum feedback gain, only little overshoot

Carexample stable.png

Optimum gain with realistic setpoint, optimum response

Carexample response accellimit.png