Editing Tuning position controller
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− | + | Position controller tuning means finding the correct drive settings and feedback gain values to achieve a proper [[Servo stiffness]] and response to a position [[Setpoint signal|setpoint]] change. | |
==Position control tuning method== | ==Position control tuning method== | ||
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*Attach motor to the target machine in a position where it can rotate in both directions | *Attach motor to the target machine in a position where it can rotate in both directions | ||
*Make following parameter changes to Granity and click apply afterwards: | *Make following parameter changes to Granity and click apply afterwards: | ||
− | **Set drive in position control mode | + | **Set drive in position control mode [[CM]] |
− | **Choose ''Serial only'' setpoint input | + | **Choose ''Serial only'' setpoint input [[CM]] |
**Make other necessary adjustments to have drive powered and enabled | **Make other necessary adjustments to have drive powered and enabled | ||
− | **Untick | + | *Optional but recommended: |
− | **Set Goals tab | + | **Untick Setpoint smoothing [[CIS]] |
− | + | **Set Goals tab [[DIV]] and [[MUL]] to 50 | |
*Set-up the test stimulus and capture settings from Testing tab (an example, may be varied): | *Set-up the test stimulus and capture settings from Testing tab (an example, may be varied): | ||
**Set target setpoint 1 [[TSP1]] to 100 | **Set target setpoint 1 [[TSP1]] to 100 | ||
**Set delay 1 [[TSD1]] to 0.25 seconds | **Set delay 1 [[TSD1]] to 0.25 seconds | ||
**Set target setpoint 2 [[TSP2]] to -100 | **Set target setpoint 2 [[TSP2]] to -100 | ||
− | **Set delay1 [[ | + | **Set delay1 [[STD2]] to 0.25 s |
− | **Choose | + | **Choose sample rate [[TSR]] of 500 to 2500 Hz |
**Choose ''Capture setpoint change in positive direction'' from the dropdown | **Choose ''Capture setpoint change in positive direction'' from the dropdown | ||
**''Tick Continuously repeating capture'' | **''Tick Continuously repeating capture'' | ||
**Tick ''Position setpoint'' and ''Position achieved'' from signals | **Tick ''Position setpoint'' and ''Position achieved'' from signals | ||
**Tick ''Start capture'' to begin continous capture. | **Tick ''Start capture'' to begin continous capture. | ||
− | **Tick | + | **Tick Enable test stimulus [[TSE]] to begin a continuous position back and forth motion generation |
Once the steps above are done, motor should be generating short distance back and forth motion motion and position response graphs should appear on the right side of Granity about once in 3-5 seconds. | Once the steps above are done, motor should be generating short distance back and forth motion motion and position response graphs should appear on the right side of Granity about once in 3-5 seconds. | ||
− | === | + | ===Adjusting MR and ML to for optimum torque control=== |
− | ----------The task here is to adjust the | + | ----------The task here is to adjust the [[MR]] and [[ML]] parameters to achieve near optimum step response for the torque controller. Observe the images below for guidance. |
− | {{tip|If the drive faults during this testing due to overcurrent, | + | {{tip|If the drive faults during this testing due to overcurrent, try reducing [[TSP1]] value or increase fault current tolerance [[FOC]] parameter. Or try radically different [[MR]] and [[ML]] values. }} |
[[File:posgains1.png|800px|]] | [[File:posgains1.png|800px|]] | ||
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[[File:posgains2.png|800px|]] | [[File:posgains2.png|800px|]] | ||
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[[File:posgains3.png|800px|]] | [[File:posgains3.png|800px|]] | ||
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[[File:posgains4.png|800px|]] | [[File:posgains4.png|800px|]] | ||
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[[File:posgains5.png|800px|]] | [[File:posgains5.png|800px|]] | ||
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[[File:posgains6.png|800px|]] | [[File:posgains6.png|800px|]] | ||
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[[File:posgains7.png|800px|]] | [[File:posgains7.png|800px|]] | ||
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[[File:posgains8.png|800px|]] | [[File:posgains8.png|800px|]] | ||
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[[File:posgains9.png|800px|]] | [[File:posgains9.png|800px|]] | ||
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− | + | ===Steps to do after manual tuning finished=== | |
− | + | UPDATE | |
− | + | *Stop test stimulus by unticking [[TSE]] | |
− | + | *Stop scope catpure by unticking ''Continuously repeating capture'' | |
− | + | *Undo all temporary changes made to settings (such as [[TBW]], [[CM]], [[DIV]], [[MUL]]) but leave the optimized [[MR]] and [[ML]] values active | |
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− | ===Steps to do after tuning finished=== | + | |
− | *Stop test stimulus by unticking | + | |
− | *Stop scope | + | |
− | *Undo all temporary changes made to settings | + | |
*Save settings to drive memory by clicking ''Save settings on drive non-volatile memory'' button | *Save settings to drive memory by clicking ''Save settings on drive non-volatile memory'' button | ||
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