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Power PMAC Tuning ToolOverview
Power PMAC Servo Structure
Versatile,
Allows complex servo algorithms be implemented
Allows 2 degree of freedom control designs be implemented.
Tuning Software Overview
Shows motor commutation status
(i.e. N/A Not commutated by P-Pmac
Else Phased/ not phased)
Shows motor status
highlighted when an
error occurs
Shows motor type Shows Control Alg.
Basis PID,
user-written etc
Shows active
motors
Shows
active
filters
Current Loop Auto-tuning
Sets up the current loop feedback (PI) gains – Estimates motor electromechanical properties
– Calculates the required feedback gains to achieve the desired performance
Current Loop Interactive Tuning
Lets user to tune (fine-tune) the digital current loop interactively
Typical Current Loop Step Response
Open Loop Test
Used for verification of open loop operation of the motor. Useful for time domain identification
Position Loop Auto-tuning
Automatically selects position loop feedback gains according to the desired value of natural frequency and damping ratio.
Position Loop Interactive Tuning
Interactive setting and fine tuning the position loop gains. Standard test inputs for performance verification
Typical Responses
Position Loop Filter Calculator/Setup
Calculates and sets filter coefficients Enables user to use single, double, and low pass filter of
various orders. Enables implementation of velocity loop filter independent of
the position loop.
Trajectory Pre-filter Setup
Used for (in general) to remove the adverse effects of low frequency resonances via removing this low frequency content from the reference command.
Allows implementation of single, double notch filters, 1st or 2nd order low pass filters etc. at sampling frequencies lower than that of the servo sampling frequency by a user defined factor.
Pre-Filter Structure
Example: Notch pre-filter @ 10 Hz
New Features
Gantry Cross-Coupled Control
Simplified Auto-tune/Current Loop Auto-tune
Adaptive Control
Interactive Filter Setup
More features in tune plots, smoothing data,
viewing acc.vel. , servo command, f.e., etc
Gantry Cross-Coupled Control
Gantry X-Coupled Control Block Diagram
Gantry Cross-Coupled Control
Does auto-tune move for both motors simultaneously
shows info. about gantry motors
Enables (kills) both motors
Calculates cross-coupled control gains if checked
Gantry Cross-Coupled Control (cont.)
Similarly, in interactive tuning user can (later) implement and or change cross-couple gantry gains
Gantry Cross-Coupled Control (cont.)
Simplified Auto-tune
Simplified Current Loop Auto-tune
Adaptive Control
Adaptive Servo Control Block Diagram
• Assumes a rigid body model with time varying inertia
• Online estimation of inertia changes i.e. plant gain
• Automatic compensation of servo loop gains for consistent closed loop bandwidth
Adaptive Control Setup Parameters
Nominal (Reference)
Gain
Estimation occurs if servo output is greater than
this value(Ensures the richness of
the excitation)
Sets estimationwindow size
Sets upper and lower boundfor estimated plant gain to ensure
stability of the closed loop system
Interactive Filter Setup
Allows changing the frequencies of the filter frequencies on the fly Updates filter frequencies in btw. repetitive moves