Editing Tuning velocity controller
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[[File:Veltuning5.png|800px]] | [[File:Veltuning5.png|800px]] | ||
− | If {{param|KVP}} is increased too much, the result is [[overshooting]] and even sustained oscillation. The cure is similar to the too high {{param|KVP}} as described earlier. | + | If {{param|KVP}} is increased too much, the result is [[overshooting]] and even sustained oscillation. The cure is similar to the too high {{param|KVP}} gain as described earlier. |
[[File:velocitylowgain.png|800px]] | [[File:velocitylowgain.png|800px]] | ||
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====Advanced tuning: Feed-forwards==== | ====Advanced tuning: Feed-forwards==== | ||
− | [[Feed-forward]] parameters may be used to boost motor responsiveness to setpoint change. {{param|VFF}} and {{param|AFF}} essentially compensate system friction and mass limiting the dynamic performance. | + | [[Feed-forward]] parameters may be used to boost motor responsiveness to setpoint change. Feed-forward gains {{param|VFF}} and {{param|AFF}} essentially compensate system friction and mass limiting the dynamic performance. |
− | The recommended way to tune FF gains, is to start increasing {{param|VFF}} until the optimum level has been found. After that, increase {{param|AFF}} until the optimum point has been reached. | + | The recommended way to tune FF gains, is to start increasing velocity feed-forward {{param|VFF}} until the optimum level has been found. After that, increase acceleration feed-forward {{param|AFF}} until the optimum point has been reached. |
[[File:velocitylowgainff.png|800px]] | [[File:velocitylowgainff.png|800px]] | ||
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The image above shows acceleration limited by insufficient torque produced by the motor. In this example the acceleration limit is set too high to be accelerated with the given motor torque limits (or current limits). | The image above shows acceleration limited by insufficient torque produced by the motor. In this example the acceleration limit is set too high to be accelerated with the given motor torque limits (or current limits). | ||
− | To verify if the problem happens due to torque limit, tick also Torque achieved and Torque setpoint signals from the Testing tab settings. In such way also motor currents will be displayed simultaneously with the position response curves. If the torque curve is limited to the set | + | To verify if the problem happens due to torque limit, tick also Torque achieved and Torque setpoint signals from the Testing tab settings. In such way also motor currents will be displayed simultaneously with the position response curves. If the torque curve is limited to the set peak current limit {{param|MMC}}, then the problem is insufficient torque. In the image above we can see that the torque curves are saturated/clipping at 5A and -5A levels which matches the configured {{param|MMC}} value of 5A in this demonstration. |
To help this, try: | To help this, try: | ||
*Increasing current limits {{param|MMC}} and {{param|MCC}} if possible | *Increasing current limits {{param|MMC}} and {{param|MCC}} if possible | ||
− | *Reducing {{param|CAL}} and/or {{param|CVL}} limits | + | *Reducing acceleration {{param|CAL}} and/or velocity {{param|CVL}} limits |
====Oscillation==== | ====Oscillation==== | ||
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===Steps to do after tuning finished=== | ===Steps to do after tuning finished=== | ||
*Stop test stimulus by unticking {{param|TSE}} | *Stop test stimulus by unticking {{param|TSE}} | ||
− | *Stop scope | + | *Stop scope catpure by unticking ''Continuously repeating capture'' |
*Undo all temporary changes made to settings | *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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==Using drive in velocity control mode== | ==Using drive in velocity control mode== | ||
If velocity control 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 velocity setpoint scale. | If velocity control 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 velocity setpoint scale. | ||
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