Editing Tuning torque controller
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{{parent|Servo motor tuning guide}}Torque controller tuning means finding the correct gain values for a torque controller inside the servo drive to achieve a proper response from a torque [[Setpoint signal|setpoint]] change. | {{parent|Servo motor tuning guide}}Torque controller tuning means finding the correct gain values for a torque controller inside the servo drive to achieve a proper response from a torque [[Setpoint signal|setpoint]] change. | ||
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==Direct inductance & resistance setting method== | ==Direct inductance & resistance setting method== | ||
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===Method 2=== | ===Method 2=== | ||
− | If the above measurement function is not available, and your motor comes with coil specifications containing [[phase-to-phase]] inductance and resistance values, then the only necessary step is to enter the given values into motor {{param|MR}} and {{param|ML}} parameter fields. In case of troubles with this method, proceed with manual tuning method. | + | If the above measurement function is not available, and your motor comes with coil specifications containing [[phase-to-phase]] inductance and resistance values, then the only necessary step is to enter the given values into motor resistance {{param|MR}} and inductance {{param|ML}} parameter fields. In case of troubles with this method, proceed with manual tuning method. |
==Manual tuning method== | ==Manual tuning method== | ||
− | Manual tuning of torque controller is some times done in order to optimize the torque controller response or to find the correct motor {{param|MR}} and {{param|ML}} parameters if unknown. Manual tuning also usually yields better torque response than the direct method which may help tuning of velocity or position tuning. | + | Manual tuning of torque controller is some times done in order to optimize the torque controller response or to find the correct motor resistance {{param|MR}} and inductance {{param|ML}} parameters if unknown. Manual tuning also usually yields better torque response than the direct method which may help tuning of velocity or position tuning. |
{{tip|If satisfactory performance was achieved by direct inductance & resistance setting method, you may skip the manual tuning method.}} | {{tip|If satisfactory performance was achieved by direct inductance & resistance setting method, you may skip the manual tuning method.}} | ||
− | In order to change torque tuning, one needs to change motor {{param|MR}} and {{param|ML}} parameters until the torque response looks satisfactory. | + | In order to change torque tuning, one needs to change motor resistance {{param|MR}} and inductance {{param|ML}} parameters until the torque response looks satisfactory. |
===Preparations=== | ===Preparations=== | ||
[[File:Torqgoodwithtestingtab.png|thumb|Correct torque tuning settings on the Testing tab.]] | [[File:Torqgoodwithtestingtab.png|thumb|Correct torque tuning settings on the Testing tab.]] | ||
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*Make following parameter changes to Granity and click apply afterwards: | *Make following parameter changes to Granity and click apply afterwards: | ||
**Set drive in torque control mode {{param|CM}} | **Set drive in torque control mode {{param|CM}} | ||
− | **Set {{param|TBW}} to maximum | + | **Set torque bandwidth limit {{param|TBW}} to maximum |
**Choose ''Serial only'' setpoint input {{param|CM}} | **Choose ''Serial only'' setpoint input {{param|CM}} | ||
− | **Untick {{param|CIS}} | + | **Untick Setpoint smoothing {{param|CIS}} |
**Set Goals tab {{param|DIV}} and {{param|MUL}} to 50 | **Set Goals tab {{param|DIV}} and {{param|MUL}} to 50 | ||
**Make other necessary adjustments to have drive powered and enabled | **Make other necessary adjustments to have drive powered and enabled | ||
*Set-up the test stimulus and capture settings from Testing tab: | *Set-up the test stimulus and capture settings from Testing tab: | ||
− | **Set target setpoint 1 [[TSP1]] to | + | **Set target setpoint 1 [[TSP1]] to 5000-15000 |
**Set delay 1 [[TSD1]] to 0.05 seconds | **Set delay 1 [[TSD1]] to 0.05 seconds | ||
**Set target setpoint 2 [[TSP2]] to 0 | **Set target setpoint 2 [[TSP2]] to 0 | ||
− | **Set delay1 [[ | + | **Set delay1 [[STD2]] to 0.5 s |
**Choose sample rate {{param|TSR}} of 10000 Hz or more | **Choose sample rate {{param|TSR}} of 10000 Hz or more | ||
**Choose ''Capture setpoint change ind positive direction'' from the dropdown | **Choose ''Capture setpoint change ind positive direction'' from the dropdown | ||
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**Tick ''Torque setpoint'' and ''Torque achieved'' from signals | **Tick ''Torque setpoint'' and ''Torque achieved'' from signals | ||
**Tick ''Start capture'' to begin continous capture. | **Tick ''Start capture'' to begin continous capture. | ||
− | **Tick {{param|TSE}} to begin a pulsed torque generation | + | **Tick Enable test stimulus {{param|TSE}} to begin a pulsed torque generation |
Once the steps above are done, motor should be generating short torque pulses to a fixed shaft and torque 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 torque pulses to a fixed shaft and torque response graphs should appear on the right side of Granity about once in 3-5 seconds. | ||
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===Adjusting MR and ML to for optimum torque control=== | ===Adjusting MR and ML to for optimum torque control=== | ||
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The task here is to adjust the {{param|MR}} and {{param|ML}} parameters to achieve near optimum step response for the torque controller. Observe the images below for guidance. | The task here is to adjust the {{param|MR}} and {{param|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, try reducing [[TSP1]] value or | + | {{tip|If the drive faults during this testing due to overcurrent, try reducing [[TSP1]] value or increase fault current tolerance {{param|FOC}} parameter. Or try radically different {{param|MR}} and {{param|ML}} values. }} |
[[File:TorqlowR.png|800px|]] | [[File:TorqlowR.png|800px|]] | ||
− | In this case the {{param|MR}} value has been set too low causing slowly rising achieved torque curve. Such slow response would reduce servo responsiveness. | + | In this case the resistance {{param|MR}} value has been set too low causing slowly rising achieved torque curve. Such slow response would reduce servo responsiveness. |
[[File:TorqhighR.png|800px|]] | [[File:TorqhighR.png|800px|]] | ||
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[[File:TorqlowL.png|800px|]] | [[File:TorqlowL.png|800px|]] | ||
− | Same kind of phenomenon will be seen if motor {{param|ML}} value is too low. Finding oscillation free tuning is finding the correct balance between the MR and ML as both affect each other. | + | Same kind of phenomenon will be seen if motor inductance {{param|ML}} value is too low. Finding oscillation free tuning is finding the correct balance between the MR and ML as both affect each other. |
[[File:TorqhigL.png|800px|]] | [[File:TorqhigL.png|800px|]] | ||
− | Too high {{param|ML}} will cause sharp overshooting and high frequency oscillations. Motor may produce audible noise if oscillations are continuous (occurs with way too high ML). | + | Too high inductance {{param|ML}} will cause sharp overshooting and high frequency oscillations. Motor may produce audible noise if oscillations are continuous (occurs with way too high ML). |
[[File:Torqgood.png|800px|]] | [[File:Torqgood.png|800px|]] | ||
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*Undo all temporary changes made to settings (such as {{param|TBW}}, {{param|CM}}, {{param|DIV}}, {{param|MUL}}) but leave the optimized {{param|MR}} and {{param|ML}} values active | *Undo all temporary changes made to settings (such as {{param|TBW}}, {{param|CM}}, {{param|DIV}}, {{param|MUL}}) but leave the optimized {{param|MR}} and {{param|ML}} values active | ||
*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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==Using drive in torque mode== | ==Using drive in torque mode== | ||
If torque mode is the final desired operating mode, set-up the [[setpoint]] signal source from Granity Goals tab. Also see [[Signal path of motor drive]] for explanation of torque setpoint scale. | If torque mode is the final desired operating mode, set-up the [[setpoint]] signal source from Granity Goals tab. Also see [[Signal path of motor drive]] for explanation of torque setpoint scale. | ||
{{next|[[Tuning velocity controller]] - follow if drive will be used in velocity control mode|[[Tuning position controller]] - follow if drive will be used in position control mode }} | {{next|[[Tuning velocity controller]] - follow if drive will be used in velocity control mode|[[Tuning position controller]] - follow if drive will be used in position control mode }} | ||
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