Application Note #2442


 Susan Powell
 1 years ago
 Views:
Transcription
1 Application Note #2442 Tuning with PL and PID Most closedloop servo systems are able to achieve satisfactory tuning with the basic Proportional, Integral, and Derivative (PID) tuning parameters. However, for systems with resonance, this may not be enough, as the D term results in high gain at high frequencies. To manage these resonances, the Control Engineer can use the Pole filter, PL. The following discussion explains the subject in depth. The gain of the compensation filter can be presented by a frequency response graph, shown in Figure 1. Although the filter includes several components such as P, I, and D, it turns out that at any specific frequency, one component has a dominant effect. Therefore, the filter gain can be approximated by the dominant component. Regardless of system frequency, the Proportional gain (KP) is fixed. At low frequency, the role of KI is large in the overall system gain. As the frequency increases, the role of KI decreases. The role of the Derivative filter (KD) is to provide the system with damping. However, KD produces increasing gain at higher frequencies which tends to excite resonances and noise. Axis Gain db KI Gain KP Gain KD Gain Response Frequency ω (log) (rad/sec) Figure 1 System Gain vs. Response Frequency based on PID To overcome this problem, a low pass filter can be introduced that will attenuate the filter gain at higher frequencies. Figure 2 shows the limit imposed on the KD gain term by the addition of PL. 1
2 KD Gain Limit due to PL KI Gain KD Gain Axis Gain db KP Gain Response Frequency ω (log) (rad/sec) Figure 2 KD Gain limit due to PL The remaining question is how to select PL so that it attenuates the noise without degrading the loop stability. The frequency response of the filter (ignore KI for now) is: KD Gain Limit due to PL KD Gain Axis Gain db KP Gain ω d Response Frequency ω ω p (log) (rad/sec) ω d Break frequency between KD and KP ω p Break frequency between KD and PL Figure 3 Break Frequency due to KD/PL 2
3 The break frequencies are the frequencies at which the effect of two terms is equal. For example, at ω d the effect of KD is equal to the effect of KP. At frequencies below ω d, KP is dominant, and above ω d, KD is dominant. The break frequency ω p, the effect of PL equals the effect of KD. For Optimaseries controllers, the formulas to determine the break frequencies are: ω d = KP KD T ω p 1 1 = ln T PL In order for PL not to cancel the benefits of KD, we must maintain ω p > 2.5 ω d Then, to find the largest PL, select ω p = 2.5 ω d 2.5 KP 1 1 = ln KDT T PL 2.5 KP 1 = ln KD PL P L = e max 2.5 KP KD Note: This is an absolute maximum for PL. It does not assure that this is the best value. Example: T = KP = 10 KD = ω d = = 100 rad/s The maximum PL for this system is: PL = e =
4 resulting in: Example: ω p = 250 rad/s. A machine has been designed to rotate a mass at high rpm. Any imbalance in the load is likely to cause periodic fluctuations in the velocity. These fluctuations will be mitigated with the use of PL. First, PID parameters were determined using Windows Servo Design Kit (WSDK). Figure 4 shows a basic step response at low speed. Figure 4 Basic PID tuning To simulate motion that displays the highfrequency speed variances, the motor was commanded to Jog at 200,000 counts/sec. The error is plotted in Figure 5. 4
5 Figure 5 Highspeed Jog with no Pole filter A fairly regular oscillatory error has developed at this frequency. The idea is to use the PL filter to smooth it out. Figure 6 shows a WSDK screenshot of this error after a PL of 0.6 was used. Figure 6 Added Pole filter to highspeed jog 5
6 Note that Figures 5 and 6 have different vertical scales. Figure 7 shows the data exported to a spreadsheet. Some oscillation is still present in the filtered data, but the amplitude has been drastically reduced. Effect of PL on HighVelocity Move Error, counts PL0 PL Time, msec Figure 7 Effect of Pole filter on highvelocity move Summary The Pole filter is a useful tool to help tune out any highspeed oscillations or disturbances in a closedloop system. By using a combination of the mathematical equations in this application note and the experimental method, a control engineer can greatly improve the performance of their machine. If more information is needed, contact the Applications Department at Galil Motion Control at or 6
7 PL (Binary 87) FUNCTION: Pole DESCRIPTION: The PL command adds a lowpass filter in series with the PID compensation. The digital transfer function of the filter is (1  P) / (Z  P) and the equivalent continuous filter is A/(S+A) where A is the filter cutoff frequency: A=(1/T) ln (1/p) rad/sec and T is the sample time. ARGUMENTS: PL n,n,n,n,n,n,n,n or PLA=n where USAGE: n is a positive number in the range 0 to n =? Returns the value of the pole filter for the specified axis. DEFAULTS: While Moving Yes Default Value 0.0 In a Program Yes Default Format 3.0 Not in a Program Yes Controller Usage ALL CONTROLLERS OPERAND USAGE: _PLn contains the value of the pole filter for the specified axis. RELATED COMMANDS: KD Derivative KP KI Proportional Integral Gain EXAMPLES: PL.95,.9,.8,.822 PL?,?,?,? ,0.8997,0.7994, PL? PL,? Set Aaxis Pole to 0.95, Baxis to 0.9, Caxis to 0.8, Daxis pole to Return all Poles Return A Pole only Return B Pole only 7
Introduction. Example. Table of Contents
May17 Application Note #5532 Positioning a Stepper Motor Using Encoder Feedback on an Axis With NonLinear Mechanics Table of Contents Introduction...1 Example...1 Openloop operation as baseline...2
More informationActive Vibration Isolation of an Unbalanced Machine Tool Spindle
Active Vibration Isolation of an Unbalanced Machine Tool Spindle David. J. Hopkins, Paul Geraghty Lawrence Livermore National Laboratory 7000 East Ave, MS/L792, Livermore, CA. 94550 Abstract Proper configurations
More informationLoad Observer and Tuning Basics
Load Observer and Tuning Basics Feature Use & Benefits Mark Zessin Motion Solution Architect Rockwell Automation PUBLIC INFORMATION Rev 5058CO900E Questions Addressed Why is Motion System Tuning Necessary?
More informationElmo HARmonica Handson Tuning Guide
Elmo HARmonica Handson Tuning Guide September 2003 Important Notice This document is delivered subject to the following conditions and restrictions: This guide contains proprietary information belonging
More informationThe Air Bearing Throughput Edge By Kevin McCarthy, Chief Technology Officer
159 Swanson Rd. Boxborough, MA 01719 Phone +1.508.475.3400 dovermotion.com The Air Bearing Throughput Edge By Kevin McCarthy, Chief Technology Officer In addition to the numerous advantages described in
More informationTable of Contents. Tuning Ultrasonic Ceramic Motors with AcceleraSeries Motion Controller. Sept17. Application Note # 5426
Sept17 Application Note # 5426 Tuning Ultrasonic Ceramic Motors with AcceleraSeries Motion Controller This application note gives some tips for tuning ultrasonic ceramic motors using Galil s ceramic
More informationApplication Note #5426
Application Note #5426 Tuning Ultrasonic Ceramic Motors This application note gives some tips for tuning ultrasonic ceramic motors using Galil s ceramic motor special firmware. It also includes a brief
More informationLatest Control Technology in Inverters and Servo Systems
Latest Control Technology in Inverters and Servo Systems Takao Yanase Hidetoshi Umida Takashi Aihara. Introduction Inverters and servo systems have achieved small size and high performance through the
More informationFundamentals of Servo Motion Control
Fundamentals of Servo Motion Control The fundamental concepts of servo motion control have not changed significantly in the last 50 years. The basic reasons for using servo systems in contrast to open
More informationAdvanced Motion Control Optimizes Laser MicroDrilling
Advanced Motion Control Optimizes Laser MicroDrilling The following discussion will focus on how to implement advanced motion control technology to improve the performance of laser microdrilling machines.
More informationComparative Study of PID and Fuzzy Controllers for Speed Control of DC Motor
Comparative Study of PID and Fuzzy Controllers for Speed Control of DC Motor Osama Omer Adam Mohammed 1, Dr. Awadalla Taifor Ali 2 P.G. Student, Department of Control Engineering, Faculty of Engineering,
More informationThe Discussion of this exercise covers the following points: Angular position control block diagram and fundamentals. Power amplifier 0.
Exercise 6 Motor Shaft Angular Position Control EXERCISE OBJECTIVE When you have completed this exercise, you will be able to associate the pulses generated by a position sensing incremental encoder with
More informationServo Closed Loop Speed Control Transient Characteristics and Disturbances
Exercise 5 Servo Closed Loop Speed Control Transient Characteristics and Disturbances EXERCISE OBJECTIVE When you have completed this exercise, you will be familiar with the transient behavior of a servo
More informationMTE 360 Automatic Control Systems University of Waterloo, Department of Mechanical & Mechatronics Engineering
MTE 36 Automatic Control Systems University of Waterloo, Department of Mechanical & Mechatronics Engineering Laboratory #1: Introduction to Control Engineering In this laboratory, you will become familiar
More informationRectilinear System. Introduction. Hardware
Rectilinear System Introduction This lab studies the dynamic behavior of a system of translational mass, spring and damper components. The system properties will be determined first making use of basic
More informationIntroduction to Servo Control & PID Tuning
Introduction to Servo Control & PID Tuning Presented to: Agenda Introduction to Servo Control Theory PID Algorithm Overview Tuning & General System Characterization Oscillation Characterization Feedforward
More informationSERVOSTAR Position Feedback Resolution and Noise
APPLICATION NOTE ASU010H Issue 1 SERVOSTAR Position Resolution and Noise Position feedback resolution has two effects on servo system applications. The first effect deals with the positioning accuracy
More informationANNA UNIVERSITY :: CHENNAI MODEL QUESTION PAPER(VSEMESTER) B.E. ELECTRONICS AND COMMUNICATION ENGINEERING EC334  CONTROL SYSTEMS
ANNA UNIVERSITY :: CHENNAI  600 025 MODEL QUESTION PAPER(VSEMESTER) B.E. ELECTRONICS AND COMMUNICATION ENGINEERING EC334  CONTROL SYSTEMS Time: 3hrs Max Marks: 100 Answer all Questions PART  A (10
More informationA Case Study of Rotating Sonar Sensor Application in Unmanned Automated Guided Vehicle
A Case Study of Rotating Sonar Sensor Application in Unmanned Automated Guided Vehicle Pravin Chandak, Ming Cao and Ernest L. Hall University of Cincinnati Center for Robotics University of Cincinnati
More informationPanTilt Signature System
PanTilt Signature System PanTilt Signature System Rob Gillette Matt Cieloszyk Luke Bowen Final Presentation Introduction Problem Statement: We proposed to build a device that would mimic human script
More informationAdvanced Servo Tuning
Advanced Servo Tuning Dr. Rohan Munasinghe Department of Electronic and Telecommunication Engineering University of Moratuwa Servo System Elements position encoder Motion controller (software) Desired
More informationStudy of Inductive and Capacitive Reactance and RLC Resonance
Objective Study of Inductive and Capacitive Reactance and RLC Resonance To understand how the reactance of inductors and capacitors change with frequency, and how the two can cancel each other to leave
More information(1) Identify individual entries in a Control Loop Diagram. (2) Sketch Bode Plots by hand (when we could have used a computer
Last day: (1) Identify individual entries in a Control Loop Diagram (2) Sketch Bode Plots by hand (when we could have used a computer program to generate sketches). How might this be useful? Can more clearly
More informationDEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING BANGLADESH UNIVERSITY OF ENGINEERING & TECHNOLOGY EEE 402 : CONTROL SYSTEMS SESSIONAL
DEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING BANGLADESH UNIVERSITY OF ENGINEERING & TECHNOLOGY EEE 402 : CONTROL SYSTEMS SESSIONAL Experiment No. 1(a) : Modeling of physical systems and study of
More informationFrequency Response Analysis and Design Tutorial
1 of 13 1/11/2011 5:43 PM Frequency Response Analysis and Design Tutorial I. Bode plots [ Gain and phase margin Bandwidth frequency Closed loop response ] II. The Nyquist diagram [ Closed loop stability
More informationOptimizing Performance Using Slotless Motors. Mark Holcomb, Celera Motion
Optimizing Performance Using Slotless Motors Mark Holcomb, Celera Motion Agenda 1. How PWM drives interact with motor resistance and inductance 2. Ways to reduce motor heating 3. Locked rotor test vs.
More informationHandson Lab. PID ClosedLoop Control
Handson Lab PID ClosedLoop Control Adding feedback improves performance. Unity feedback was examined to serve as a motivating example. Lectures derived the power of adding proportional, integral and
More informationFigure 1: Unity Feedback System. The transfer function of the PID controller looks like the following:
Islamic University of Gaza Faculty of Engineering Electrical Engineering department Control Systems Design Lab Eng. Mohammed S. Jouda Eng. Ola M. Skeik Experiment 3 PID Controller Overview This experiment
More informationGE420 Laboratory Assignment 8 Positioning Control of a Motor Using PD, PID, and Hybrid Control
GE420 Laboratory Assignment 8 Positioning Control of a Motor Using PD, PID, and Hybrid Control Goals for this Lab Assignment: 1. Design a PD discrete control algorithm to allow the closedloop combination
More informationJNTUWORLD. 6 The unity feedback system whose open loop transfer function is given by G(s)=K/s(s 2 +6s+10) Determine: (i) Angles of asymptotes *****
Code: 9A050 III B. Tech I Semester (R09) Regular Eaminations, November 0 Time: hours Ma Marks: 70 (a) What is a mathematical model of a physical system? Eplain briefly. (b) Write the differential equations
More informationElectronics and Instrumentation Name ENGR4220 Fall 1999 Section Modeling the Cantilever Beam Supplemental Info for Project 1.
Name ENGR40 Fall 1999 Section Modeling the Cantilever Beam Supplemental Info for Project 1 The cantilever beam has a simple equation of motion. If we assume that the mass is located at the end of the
More informationSoftware Operational Manual
Software Operational Manual for Easy Servo Drives ESD508/808/1008 www.leadshine.com SMESR20121030 ii Leadshine reserves the right to make changes without further notice to any products herein to improve
More informationMAE106 Laboratory Exercises Lab # 5  PD Control of DC motor position
MAE106 Laboratory Exercises Lab # 5  PD Control of DC motor position University of California, Irvine Department of Mechanical and Aerospace Engineering Goals Understand how to implement and tune a PD
More informationA Machine Tool Controller using Cascaded Servo Loops and Multiple Feedback Sensors per Axis
A Machine Tool Controller using Cascaded Servo Loops and Multiple Sensors per Axis David J. Hopkins, Timm A. Wulff, George F. Weinert Lawrence Livermore National Laboratory 7000 East Ave, L792, Livermore,
More informationof harmonic cancellation algorithms The internal model principle enable precision motion control Dynamic control
Dynamic control Harmonic cancellation algorithms enable precision motion control The internal model principle is a 30yearsyoung idea that serves as the basis for a myriad of modern motion control approaches.
More informationMotomatic Servo Control
Exercise 2 Motomatic Servo Control This exercise will take two weeks. You will work in teams of two. 2.0 Prelab Read through this exercise in the lab manual. Using Appendix B as a reference, create a block
More informationDesign and Implementation of the Control System for a 2 khz Rotary Fast Tool Servo
Design and Implementation of the Control System for a 2 khz Rotary Fast Tool Servo Richard C. Montesanti a,b, David L. Trumper b a Lawrence Livermore National Laboratory, Livermore, CA b Massachusetts
More informationCHAPTER 6. CALCULATION OF TUNING PARAMETERS FOR VIBRATION CONTROL USING LabVIEW
130 CHAPTER 6 CALCULATION OF TUNING PARAMETERS FOR VIBRATION CONTROL USING LabVIEW 6.1 INTRODUCTION Vibration control of rotating machinery is tougher and a challenging challengerical technical problem.
More informationAutomatic Control Motion control Advanced control techniques
Automatic Control Motion control Advanced control techniques (luca.bascetta@polimi.it) Politecnico di Milano Dipartimento di Elettronica, Informazione e Bioingegneria Motivations (I) 2 Besides the classical
More informationServo Tuning. Dr. Rohan Munasinghe Department. of Electronic and Telecommunication Engineering University of Moratuwa. Thanks to Dr.
Servo Tuning Dr. Rohan Munasinghe Department. of Electronic and Telecommunication Engineering University of Moratuwa Thanks to Dr. Jacob Tal Overview Closed Loop Motion Control System Brain Brain Muscle
More informationAdvanced Motion Control Optimizes Mechanical MicroDrilling
Advanced Motion Control Optimizes Mechanical MicroDrilling The following discussion will focus on how to implement advanced motion control technology to improve the performance of mechanical microdrilling
More informationFeedback (and control) systems
Feedback (and control) systems Stability and performance Copyright 20072008 Stevens Institute of Technology  All rights reserved 221/23 Behavior of Underdamped System Y() s s b y 0 M s 2n y0 2 2 2
More informationBasic Tuning for the SERVOSTAR 400/600
Basic Tuning for the SERVOSTAR 400/600 Welcome to Kollmorgen s interactive tuning chart. The first three sheets of this document provide a flow chart to describe tuning the servo gains of a SERVOSTAR 400/600.
More informationInternational Journal of Research in Advent Technology Available Online at:
OVERVIEW OF DIFFERENT APPROACHES OF PID CONTROLLER TUNING Manju Kurien 1, Alka Prayagkar 2, Vaishali Rajeshirke 3 1 IS Department 2 IE Department 3 EV DEpartment VES Polytechnic, Chembur,Mumbai 1 manjulibu@gmail.com
More informationCDS 101/110: Lecture 8.2 PID Control
CDS 11/11: Lecture 8.2 PID Control November 16, 216 Goals: Nyquist Example Introduce and review PID control. Show how to use loop shaping using PID to achieve a performance specification Discuss the use
More informationEC CONTROL SYSTEMS ENGINEERING
1 YEAR / SEM: II / IV EC 1256. CONTROL SYSTEMS ENGINEERING UNIT I CONTROL SYSTEM MODELING PARTA 1. Define open loop and closed loop systems. 2. Define signal flow graph. 3. List the forcevoltage analogous
More informationSmooth rotation. An adaptive algorithm kills jerky motions in motors.
Page 1 of 4 Copyright 2004 Penton Media, Inc., All rights reserved. Printing of this document is for personal use only. For reprints of this or other articles, click here Smooth rotation An adaptive algorithm
More informationME 5281 Fall Homework 8 Due: Wed. Nov. 4th; start of class.
ME 5281 Fall 215 Homework 8 Due: Wed. Nov. 4th; start of class. Reading: Chapter 1 Part A: Warm Up Problems w/ Solutions (graded 4%): A.1 NonMinimum Phase Consider the following variations of a system:
More informationChapter 5. Tracking system with MEMS mirror
Chapter 5 Tracking system with MEMS mirror Up to now, this project has dealt with the theoretical optimization of the tracking servo with MEMS mirror through the use of simulation models. For these models
More informationThe MFT BSeries Flow Controller.
The MFT BSeries Flow Controller. There are many options available to control a process flow ranging from electronic, mechanical to pneumatic. In the industrial market there are PLCs, PCs, valves and flow
More informationPIDCONTROL FUNCTION AND APPLICATION
PIDCONTROL FUNCTION AND APPLICATION Hitachi Inverters SJ1 and L1 Series Deviation  P : Proportional operation I : Integral operation D : Differential operation Inverter Frequency command Fan, pump, etc.
More informationModule 7 : Design of Machine Foundations. Lecture 31 : Basics of soil dynamics [ Section 31.1: Introduction ]
Lecture 31 : Basics of soil dynamics [ Section 31.1: Introduction ] Objectives In this section you will learn the following Dynamic loads Degrees of freedom Lecture 31 : Basics of soil dynamics [ Section
More informationScalar control synthesis 1
Lecture 4 Scalar control synthesis The lectures reviews the main aspects in synthesis of scalar feedback systems. Another name for such systems is singleinputsingleoutput(siso) systems. The specifications
More informationDigital Control of MS150 Modular Position Servo System
IEEE NECEC Nov. 8, 2007 St. John's NL 1 Digital Control of MS150 Modular Position Servo System Farid Arvani, Syeda N. Ferdaus, M. Tariq Iqbal Faculty of Engineering, Memorial University of Newfoundland
More informationThis manuscript was the basis for the article A Refresher Course in Control Theory printed in Machine Design, September 9, 1999.
This manuscript was the basis for the article A Refresher Course in Control Theory printed in Machine Design, September 9, 1999. Use Control Theory to Improve Servo Performance George Ellis Introduction
More informationPerformance Optimization Using Slotless Motors and PWM Drives
Motion Control Performance Optimization Using Slotless Motors and PWM Drives TN93 REV 1781 Section 1: Abstract Smooth motion, meaning very low position and current loop error while at speed, is critical
More informationApplication of Gain Scheduling Technique to a 6Axis Articulated Robot using LabVIEW R
Application of Gain Scheduling Technique to a 6Axis Articulated Robot using LabVIEW R ManSu Kim #,1, WonJee Chung #,2, SeungWon Jeong #,3 # School of Mechatronics, Changwon National University Changwon,
More informationDigital Control Lab Exp#8: PID CONTROLLER
Digital Control Lab Exp#8: PID CONTROLLER we will design the velocity controller for a DC motor. For the sake of simplicity consider a basic transfer function for a DC motor where effects such as friction
More informationNPTEL Online Course: Control Engineering
NPTEL Online Course: Control Engineering Dr. Ramkrishna Pasumarthy and Dr.Viswanath Assignment  0 : s. A passive band pass filter with is one which: (a) Attenuates signals between the two cutoff frequencies
More information+ + G c (s G p (s. a) What is overall transfer closedloop transfer function θ(s)
Problem 1 (35 pts) Department of Mechanical Engineering Massachusetts Institute of Technology 2.14 Analysis and Design of Feedback Control Systems Fall 2004 Quiz 1 Wednesday October 6, 2004 OPEN BOOK A
More informationLaboratory PID Tuning Based On Frequency Response Analysis. 2. be able to evaluate system performance for empirical tuning method;
Laboratory PID Tuning Based On Frequency Response Analysis Objectives: At the end, student should 1. appreciate a systematic way of tuning PID loop by the use of process frequency response analysis; 2.
More informationEXPERIMENT NO. 4 EXPERIMENTS ON LADDER PROGRAMMING FOR MECHATRONICS SYSTEM
EXPERIMENT NO. 4 EXPERIMENTS ON LADDER PROGRAMMING FOR MECHATRONICS SYSTEM DATE OF PERFORMANCE : INTRODUCTION: A Programmable Logic Controller, or PLC, is more or less a small computer with a builtin
More information2.7.3 Measurement noise. Signal variance
62 Finn Haugen: PID Control Figure 2.34: Example 2.15: Temperature control without anti windup disturbance has changed back to its normal value). [End of Example 2.15] 2.7.3 Measurement noise. Signal
More informationAutomatic Control Systems 2017 Spring Semester
Automatic Control Systems 2017 Spring Semester Assignment Set 1 Dr. Kalyana C. Veluvolu Deadline: 11APR  16:00 hours @ IT1815 1) Find the transfer function / for the following system using block diagram
More informationEE 308 Spring Preparation for Final Lab Project Simple Motor Control. Motor Control
Preparation for Final Lab Project Simple Motor Control Motor Control A proportional integral derivative controller (PID controller) is a generic control loop feedback mechanism (controller) widely used
More informationMEM380 Applied Autonomous Robots I Winter Feedback Control USARSim
MEM380 Applied Autonomous Robots I Winter 2011 Feedback Control USARSim Transforming Accelerations into Position Estimates In a perfect world It s not a perfect world. We have noise and bias in our acceleration
More informationEngineering Reference
Engineering Reference Linear & Rotary Positioning Stages Table of Contents 1. Linear Positioning Stages...269 1.1 Precision Linear Angular Dynamic 1.2 Loading Accuracy Repeatability Resolution Straightness
More informationINTRODUCTION TO AC FILTERS AND RESONANCE
AC Filters & Resonance 167 Name Date Partners INTRODUCTION TO AC FILTERS AND RESONANCE OBJECTIVES To understand the design of capacitive and inductive filters To understand resonance in circuits driven
More informationPROCEEDINGS OF THE SECOND INTERNATIONAL CONFERENCE ON SCIENCE AND ENGINEERING
POCEEDINGS OF THE SECOND INTENATIONAL CONFEENCE ON SCIENCE AND ENGINEEING Organized by Ministry of Science and Technology DECEMBE , SEDONA HOTEL, YANGON, MYANMA Design and Analysis of PID Controller for
More informationTCS3 SERVO SYSTEM: Proposed Design
UNIVERSITY OF HAWAII INSTITUTE FOR ASTRONOMY 2680 Woodlawn Dr. Honolulu, HI 96822 NASA Infrared Telescope Facility TCS3 SERVO SYSTEM: Proposed Design.......... Fred Keske June 7, 2004 Version 1.2 1 INTRODUCTION...
More informationResonance in Circuits
Resonance in Circuits Purpose: To map out the analogy between mechanical and electronic resonant systems To discover how relative phase depends on driving frequency To gain experience setting up circuits
More informationExperiment Of Speed Control for an Electric Trishaw Based on PID Control Algorithm
International Journal of Mechanical & Mechatronics Engineering IJMMEIJENS Vol:17 No:02 38 Experiment Of Speed Control for an Electric Trishaw Based on PID Control Algorithm Shahrizal Saat 1 *, Mohd Nabil
More informationUpgrading from Stepper to Servo
Upgrading from Stepper to Servo Switching to Servos Provides Benefits, Here s How to Reduce the Cost and Challenges Byline: Scott Carlberg, Motion Product Marketing Manager, Yaskawa America, Inc. The customers
More informationBasic Guidelines for Tuning With The XPS Motion Controller
1.0 Concept of the DC Servo The XPS positions the stage by optimizing error response, accuracy, and stability by scaling measured position error by the correctors Proportional, Integral, and Derivative
More informationAddendum Handout for the ECE3510 Project. The magnetic levitation system that is provided for this lab is a nonlinear system.
Addendum Handout for the ECE3510 Project The magnetic levitation system that is provided for this lab is a nonlinear system. Because of this fact, it should be noted that the associated ideal linear responses
More informationDC Motor Speed Control using PID Controllers
"EE 616 Electronic System Design Course Project, EE Dept, IIT Bombay, November 2009" DC Motor Speed Control using PID Controllers Nikunj A. Bhagat (08307908) nbhagat@ee.iitb.ac.in, Mahesh Bhaganagare (CEP)
More informationCHAPTER 4 PID CONTROLLER BASED SPEED CONTROL OF THREE PHASE INDUCTION MOTOR
36 CHAPTER 4 PID CONTROLLER BASED SPEED CONTROL OF THREE PHASE INDUCTION MOTOR 4.1 INTRODUCTION Now a day, a number of different controllers are used in the industry and in many other fields. In a quite
More information(i) Sine sweep (ii) Sine beat (iii) Time history (iv) Continuous sine
A description is given of one way to implement an earthquake test where the test severities are specified by the sinebeat method. The test is done by using a biaxial computer aided servohydraulic test
More informationDC SERVO MOTOR CONTROL SYSTEM
DC SERVO MOTOR CONTROL SYSTEM MODEL NO:(PEC  00CE) User Manual Version 2.0 Technical Clarification /Suggestion : / Technical Support Division, Vi Microsystems Pvt. Ltd., Plot No :75,Electronics Estate,
More informationActive sway control of a gantry crane using hybrid input shaping and PID control schemes
Home Search Collections Journals About Contact us My IOPscience Active sway control of a gantry crane using hybrid input shaping and PID control schemes This content has been downloaded from IOPscience.
More informationDesigning PID for Disturbance Rejection
Designing PID for Disturbance Rejection Control System Toolbox provides tools for manipulating and tuning PID controllers through the PID Tuner app as well as commandline functions. This example shows
More informationResponse spectrum Time history Power Spectral Density, PSD
A description is given of one way to implement an earthquake test where the test severities are specified by time histories. The test is done by using a biaxial computer aided servohydraulic test rig.
More informationCONTINUOUS MOTION NOMINAL CHARACTERISTIC TRAJECTORY FOLLOWING CONTROL FOR POSITION CONTROL OF AN AC DRIVEN XY BALL SCREW MECHANISM
Journal of Engineering Science and Technology Vol. 13, No. 7 (2018) 19391958 School of Engineering, Taylor s University CONTINUOUS MOTION NOMINAL CHARACTERISTIC TRAJECTORY FOLLOWING CONTROL FOR POSITION
More informationStep vs. Servo Selecting the Best
Step vs. Servo Selecting the Best Dan Jones Over the many years, there have been many technical papers and articles about which motor is the best. The short and sweet answer is let s talk about the application.
More informationCTC and FLC, by default, have Default For Device checked which means use the factory default servo tuning settings.
Date: 3 April 2009 www.quicksilvercontrols.com Servo Tuning The factory default servo loop parameters have been optimized for a nominal load range (inertial mismatch up to 10:1) for each servo motor. Given
More informationComparative Analysis of a PID Controller using Ziegler Nichols and Auto Turning Method
International Academic Institute for Science and Technology International Academic Journal of Science and Engineering Vol. 3, No. 10, 2016, pp. 116. ISSN 24543896 International Academic Journal of Science
More informationThursday, 1/23/19 Automatic Gain Control As previously shown, 1 0 is a nonlinear system that produces a limit cycle with a distorted sinusoid for
Thursday, 1/23/19 Automatic Gain Control As previously shown, 1 0 is a nonlinear system that produces a limit cycle with a distorted sinusoid for x(t), which is not a very good sinusoidal oscillator. A
More informationCHAPTER 6 INTRODUCTION TO SYSTEM IDENTIFICATION
CHAPTER 6 INTRODUCTION TO SYSTEM IDENTIFICATION Broadly speaking, system identification is the art and science of using measurements obtained from a system to characterize the system. The characterization
More informationVECTOR CONTROL SCHEME FOR INDUCTION MOTOR WITH DIFFERENT CONTROLLERS FOR NEGLECTING THE END EFFECTS IN HEV APPLICATIONS
VECTOR CONTROL SCHEME FOR INDUCTION MOTOR WITH DIFFERENT CONTROLLERS FOR NEGLECTING THE END EFFECTS IN HEV APPLICATIONS M.LAKSHMISWARUPA 1, G.TULASIRAMDAS 2 & P.V.RAJGOPAL 3 1 Malla Reddy Engineering College,
More informationprofile Using intelligent servo drives to filter mechanical resonance and improve machine accuracy in printing and converting machinery
profile Drive & Control Technical Article Using intelligent servo drives to filter mechanical resonance and improve machine accuracy in printing and converting machinery Challenge: Controlling machine
More informationAN EXPERIMENTAL INVESTIGATION OF THE PERFORMANCE OF A PID CONTROLLED VOLTAGE STABILIZER
AN EXPERIMENTAL INVESTIGATION OF THE PERFORMANCE OF A PID CONTROLLED VOLTAGE STABILIZER J. A. Oyedepo Department of Computer Engineering, Kaduna Polytechnic, Kaduna Yahaya Hamisu Abubakar Electrical and
More informationA Differential Look at the Watt s Governor
Differential Equations Spring 2003 1/25 A Differential Look at the Watt s Governor by Tim Honn & Seth Stone College of the Redwoods Eureka,CA Math dept. email: timhonn@cox.net email: lamentofseth@hotmail.com
More informationMercury technical manual
v.1 Mercury technical manual September 2017 1 Mercury technical manual v.1 Mercury technical manual 1. Introduction 2. Connection details 2.1 Pin assignments 2.2 Connecting multiple units 2.3 Mercury Link
More informationLecture 7:Examples using compensators
Lecture :Examples using compensators Venkata Sonti Department of Mechanical Engineering Indian Institute of Science Bangalore, India, This draft: March, 8 Example :Spring Mass Damper with step input Consider
More informationprofile Using intelligent servo drives to filter mechanical resonance and improve machine accuracy in printing and converting machinery
profile Drive & Control Using intelligent servo drives to filter mechanical resonance and improve machine accuracy in printing and converting machinery Challenge: Controlling machine resonance the white
More informationManaging PM AC Servo Motor Overloads: Thermal Time Constant
Managing PM AC Servo Motor Overloads: Thermal Time Constant 1 Hurley Gill, Senior Applications / Systems Engineer When intermittent power density is of a required high value, you may not want to use classic
More informationModeling and Control of Mold Oscillation
ANNUAL REPORT UIUC, August 8, Modeling and Control of Mold Oscillation Vivek Natarajan (Ph.D. Student), Joseph Bentsman Department of Mechanical Science and Engineering University of Illinois at UrbanaChampaign
More informationControl Servo Design for Inverted Pendulum
JGWT1402132v2 Jan. 14, 2014 Control Servo Design for Inverted Pendulum Takanori Sekiguchi 1. Introduction In order to acquire and keep the lock of the interferometer, RMS displacement or velocity of
More informationEE 482 : CONTROL SYSTEMS Lab Manual
University of Bahrain College of Engineering Dept. of Electrical and Electronics Engineering EE 482 : CONTROL SYSTEMS Lab Manual Dr. Ebrahim AlGallaf Assistance Professor of Intelligent Control and Robotics
More informationControl System Circuits with Opamps
Control System Circuits with Opamps 27.04.2009 Purpose To introduce opamps, transistors and their usage To apply a control system with analog circuit elements. Difference Amplifier Figure 1 Basic Difference
More information