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BCP-810 Applications Questions and Answers

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BCP-810 Applications Questions and Answers :: Article Creator

how to tune servo methods: drive handle, part four: Questions and solutions

getting to know aims
  • how to tune servo programs: drive manage, half four webcast presents extra answers to listener questions.
  • Tuning answers cowl servo stability, sensors, compensation.
  • Temperature can have an effect on precision motion handle.
  • Tuning the servo equipment to performance requisites will also be among the most troubling initiatives in computing device constructing. It’s now not all the time about what three numbers may still go into the proportional-built-in-by-product (PID) controller. In an April 15 webcast, “the way to Tune Servo techniques: drive manage (half four),” Joseph Profeta, Ph.D., director, control programs group, Aerotech, covered the way to tune the force loop equipment to fulfill gadget necessities and create an arbitrary drive trajectory, barriers of a drive loop across the position loop and latest loop, the way to command arbitrary force trajectories, and how to minimize bump.

    Diagram shows a general control problem, frequency domain, as discussed in a series of webcasts on “How to Tune Servo Systems.” Courtesy: Control Engineering, Aerotech

    Diagram suggests a accepted control issue, frequency domain, as discussed in a collection of webcasts on “how to Tune Servo programs.” Courtesy: handle Engineering, Aerotech

    Tuning: Servo balance, sensors, compensation

    Profeta answered questions in the live webcast about drive control in servo system tuning, and extra solutions from webcast participant questions are provided below.

    Q: Why is tuning so intricate to attain smooth performance, linear servo, opt for and place, at speed?

    A: it's viable with choose and place that the linear servo stability is affected by the load exchange on the axis. the use of benefit scheduling for different masses is one strategy to make use of.

    Q: How do I tune a servo motor and troubleshoot?

    A: generally depending on the servo loop constitution, beginning with low proportional features is step one. With a sturdy device, stability can also be assessed with the loop gain frequency response and good points adjusted as necessary. an illustration of this may also be considered within the first webinar in this series.

    Q: Is there any difficulty with the ringing in the transients?

    A: here's software-based. Some force applications cannot tolerate overshoot. during this case, tune the device such that it's severely damped to have no overshoot in a step response. when you are able to contour the force command, this can also cut back the transient oscillations.

    Q: What outcomes may you see with precision rotary tiers subject to temperature transients? Can this be mitigated with adding some thermistors to the manage loop?

    A: Say the environment had been to slowly fluctuate between 10 and 35°. The temperature adaptations will cause the mechanical equipment to develop or cut back. this can additionally include the comments device reckoning on what comments is used and how it's installed. If the remarks is transforming into and shrinking with the mechanics, the control loop usually are not able to suitable for temperature version. As cautioned, adding some temperature measurements to the system can be used to add a correction into the gadget. Some controllers have a linear interpolation algorithm for this aim.

    Diagram shows a model of force control on an object as explained in the webcast “How to Tune Servo Systems: Force Control (Part 4).” Courtesy: Control Engineering, Aerotech

    Diagram indicates a model of force handle on an object as defined in the webcast “how to Tune Servo techniques: drive control (half 4).” Courtesy: manage Engineering, Aerotech

    Q: How does the I2 benefit influence the performance in force control? (Or cited an additional means: Why can we use two integrals in drive loop when the force loop is wrapped across the position loop?)

    A: here is used in purposes to control the top of an axis above a goal when ramp commands are obligatory. It is not used within the force loop.

    Q: have you considered optical sensor as position feedback within the loop?          

    A: yes. this may work neatly if the sensor is linear and excessive resolution sufficient.

    Q: After contact, is there any compensation on force loop?        

    A: The webinar confirmed two modes. touchdown in position mode the place no force compensation takes area until the force loop is turned on and touchdown in drive mode the place compensation is energetic right through and after landing.

    Diagram shows a force feedforward diagram and graph of a force feedforward calculation as explained in the webcast “How to Tune Servo Systems: Force Control (Part 4).” Courtesy: Control Engineering, Aerotech

    Diagram indicates a drive feedforward diagram and graph of a drive feedforward calculation as explained within the webcast “a way to Tune Servo programs: force manage (part four).” Courtesy: manage Engineering, Aerotech

    Edited via Mark T. Hoske, content supervisor, control Engineering, CFE Media and technology, mhoske@cfemedia.com.

    key phrases: action control, loop tuning, force manage

    believe THIS

    What other servo tuning questions do you've got?


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