1 Elmo HARmonica Hands-on Tuning Guide September 2003
2 Important Notice This document is delivered subject to the following conditions and restrictions: This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of the Elmo HARmonica servo drive in tuning the device. The text and graphics included in this manual are for the purpose of illustration and reference only. The specifications on which they are based are subject to change without notice. Information in this document is subject to change without notice. Corporate and individual names and data used in examples herein are fictitious unless otherwise noted. Doc. no. HARTG0903 Copyright 2003 Elmo Motion Control Ltd. All rights reserved. Revision History Document version 1.0: September 2003 Elmo Motion Control Ltd. 64 Gisin St., P.O. Box 463 Petach Tikva Israel Tel: Fax: Elmo Motion Control Inc. 900H River St. Kennedy Industrial Park Windsor, CT USA Tel: Fax: Elmo Motion Control GmbH Steinbeisstrasse 41 D Villingen-Schwenningen Germany Tel: Fax:
3 Contents 1. Introduction Tuning Current Tuning Velocity Auto-tuning Velocity Step Step The Auto-tuning Procedure Manually Tuning Velocity Manual Tuning with a Low-pass Filter Manual Tuning of a PI Controller with a Notch Filter Advanced Manual Tuning Tuning Position Introduction Tuning the Position Loop Lowering the Speed...32
5 1 1. Introduction When a new motor is connected to the HARmonica servo drive, you should use the Composer Wizard to set the motor parameters and to tune the control loops. The Wizard will assist you in choosing the optimal drive parameters, step-by-step. In the Wizard dialog, you are asked to enter the maximum continuous current and maximum velocity of the motor. 2. Tuning Current Each time you connect a new motor to the drive, you must tune the current loop of the drive. Current tuning is fully automatic: The Composer creates a step command to the current loop and finds the optimum PI parameters according to step response iterations. 3. Tuning Velocity 3.1 Auto-tuning Velocity Step 1 If you are tuning the drive for a velocity application, select Auto Tuning for Speed Design from the Select the Tuning Type drop-down list. If you are tuning the drive as a velocity drive under a position controller, select Auto Tuning for Speed Design from the Select the Tuning Type drop-down list. There is no need to perform velocity auto-tuning if you intend to auto-tune the drive as a position controller.
6 2 Elmo HARmonica Tuning Guide HARTG Step 2 1. From the Auto Tuning Mode drop-down list: Select Expert tuning for bounded if position boundaries cannot be exceeded. Select Expert tuning for free motion if there is no restriction on the system motion. 2. Using the Response slider to select the system margin you require: Choose a value towards Fast and Sensitive if you require a more responsive (agile) system. Choose a value towards Slow and Stable if you need a more robust system, which is required in a number of cases, among them: Machines whose mechanics may vary, as when handling loads of different masses A machine type that uses one type of control parameters, although the mechanics of each machine may differ from each other. 3. Use the System Noise slider to select the level of plant noise. The trade-offs are obvious: Fast and Noisy to Slow and Quiet. 4. Activate the auto-tuning procedure by clicking Run Auto Tuning.
7 The Auto-tuning Procedure The auto tuning procedure is built on the following steps. 1. The tuner creates a velocity step command and finds a low bandwidth control loop, to enable the motor to move while performing system identification. 2. The tuner injects a current command at different frequencies, while moving the motor at a constant speed. The tuner records the velocity and position response to the current different frequencies. 3. The tuner calculates the open loop transfer function of the mechanical system as sent to the drive (including sensors and delay influence). 4. The tuner calculates the drive transfer function in order to control the system. 5. The composer displays the step response of the control system. 3.2 Manually Tuning Velocity 1. From the Select the Tuning type drop-down list, select Manual Tuning. The following dialog box will be displayed. 2. Set KP to 10 and KI to Be sure that the Advanced Filter is OFF. 4. Set the Displacement to a maximum of +/ If the position boundaries do not allow this displacement, reduce it as needed. 5. Set the Velocity to cnt/sec. 6. Uncheck the Profiler Mode check button. 7. Click Run Test. The Wizard will perform a step command and will record the system response, displayed in a two-pane scope window.
8 4 Elmo HARmonica Tuning Guide HARTG In the first pane, you can see the Velocity and the Velocity command and in the second, you can see the Current command. If the current command has reached the peak current, reduce the velocity command and repeat the test, multiplying KP by 2. If machine vibrations are dangerous, multiply KP by 1.5 each time, instead of Repeat step 8 until you reach one of the following: The step response exhibits an overshoot of about 20%. The step response is unacceptable;, for example, it shows resonant oscillation. The system exhibits a large overshoot and undershoot, a sign of being close to instability. In this case, decrease KP by at least a factor of 2.0.
10 6 Elmo HARmonica Tuning Guide HARTG0903
12 8 Elmo HARmonica Tuning Guide HARTG0903
13 9 Here we can see that we have reached a 25% overshoot and the beginning of oscillations. 10. At this point reduce KP to 75% of its value and repeat the test.
14 10 Elmo HARmonica Tuning Guide HARTG0903 We can see that the oscillations have disappeared and the overshoot has been reduced to 10%. 11. At this point, we can add KI to the controller. If one of the phenomena described in step 9 has returned, revert to the previous value of KP. 12. In order to set the first value of KI, measure the rise time of the step.
15 11 In this case, it is sec. 13. Set KI/KP to 1/rise time = 625. KI = (KI/KP) * KP = 75,000 If machine vibrations are dangerous, set KI/KP to 0.5/rise time and increase KI until an undershoot or oscillations occur. 14. Set the KI value and repeat the test. 15. We can see that the system has reached saturation. Therefore, reduce the speed to cnt/sec. The following performance results:
16 12 Elmo HARmonica Tuning Guide HARTG0903 This shows a nice response with no undershoot or oscillations. The system has stabilized after 3.25 msec. 16. Had the KI been too great, oscillations or too large an undershoot would have occurred. To observe this case, increase KI to 90,000. We can see a large undershoot. If a response such as this occurs, reduce KI until you reach a satisfactory response. 17. A robust system is required in a number of circumstances, among them: Machines whose mechanics may vary, as when handling loads of different masses A machine type that uses one type of control parameters, although the mechanics of each machine may differ from each other.
17 13 In either of these cases, the gain must be reduced to enable a larger system margin. To see this, reduce KP and run the test: 18. Set the following parameters: Rise time = sec KI/KP = 1 / Rise time = 555 KI = 80 * 555 = We can see we that the resulting settling time is 5.75 msec. There is no reason to attempt to reach the highest bandwidth. Reducing the bandwidth can help attain a much more stable system.
18 14 Elmo HARmonica Tuning Guide HARTG Manual Tuning with a Low-pass Filter Going back to KP = 40 and KI = 0 we can see high frequency vibrations in both the Velocity and Current command. Adding a low-pass filter with a high frequency will reduce the RMS noise of the current and will help us achieve a quieter system.
19 15 Adding the low-pass filter results in an overshoot at KP = 80. A KP of 100 gives an overshoot of 20% and the beginning of oscillations.
20 16 Elmo HARmonica Tuning Guide HARTG0903 Reducing KP to 75 results in the following performance: Rise time = sec results in KI/KP = 500. When adding a low-pass filter, do not set the KI/KP higher than filter frequency.
21 17 Set KI = 500 * 75 = The following performance results: Settling time is 5.5 msec. It is recommended to set a low-pass filter of 600 Hz with a damping of 0.55 at the beginning of each tuning procedure Manual Tuning of a PI Controller with a Notch Filter During the design of a PI controller, the designer can conclude from the test results if a notch filter is required and in which frequency it should be added. Following is a characteristic example, using the second (resonant) test system. Start by designing a PI controller. For KP, we have the test results given in the following figure. The measured current exhibits oscillations, which is a hint of the existence of resonance. Counts/sec. Ampere 3 x Speed Reference Time (sec.) Time (sec.) Figure 3-1: Example of use of a notch the current exhibits a periodic noise waveform
22 18 Elmo HARmonica Tuning Guide HARTG0903 In this example the measured speed also exhibits oscillations. In most cases, however, the resonance phenomenon is more clearly identified from the current response than from the speed response. Measure the resonance frequency, that is, how many oscillations appear in a second. By enlarging an interval of the measured current, you can measure 30 cycles in seconds, which fits a resonance frequency of 10/0.0387=359Hz Ampere Time (sec.) Figure 3-2: Zoom of current test measurement for measuring expected plant resonance.(rspeed2) Now add a notch at frequency 359 with a damping of Click the Designer button in the Advanced Filter block, choose a notch filter, type its corner frequency and use the slider to choose the damping factor (as shown in the following dialog box). Click OK to return to the Tuning Velocity Loop dialog box, and then click Run Test to perform a test. The outcome is shown in Figure 3-3. Note that the resonance phenomenon disappeared (compare Figure 3-1 with Figure 3-3). The improvement is apparent in Figure 3-4, which is zoomed to the scale of Figure 3-2.
23 19 Counts/sec. Ampere x Speed -1.8 Reference Time (sec.) Time (sec.) Figure 3-3: Test results showing how notch eliminates current oscillations due to mechanical resonance Ampere Time (sec.) Figure 3-4: Zoom of current test measurement for the same controller used in Figure 3-2 with notch. Figure 3-4 reveals two remaining oscillations: one about 75 Hz and the other 860 Hz. The oscillation at 75 Hz is due to cogging and not due to a mechanical resonance. In order to prove this, repeat the test with twice the velocity command: If this frequency doubles, it is due to cogging; if it remains the same, it is due to resonance. The resonance at 860 Hz is very close to half the Nyquist frequency, and may be damped using the low-pass filter option.
24 20 Elmo HARmonica Tuning Guide HARTG0903 Repeat the test with different damping values according to the following guideline: Try using the largest damping factor value, which knocks out the resonance. Do not try using damping factors that are too small (0.07 is considered small) because too low a damping factor introduces more phase delay, and is less robust to resonant frequency variations 1. Continue the PI manual tuning process for designing KI and KP as described in the previous section. 3.3 Advanced Manual Tuning For this procedure, we will use the tuning from low-pass filter (section 3.2.1). Going slow with the parameters we set will cause instability due to lack of information. A step response of 500 cnt/sec with the same parameters will look like this: 1 The resonant frequency may change due to load or posture changes.
25 21 Reducing the gains to KP = 20, KI = results in the following performance: In order to gain stability at low velocities, we use gain scheduling and reduce the gains at low speeds. We can see that the KI/KP factor is higher at low speed in order to overcome friction. Advanced manual tuning is very similar to manual tuning. The advance manual tuning dialog box provides a multiple set of KP and KI parameters and the velocity to which the gains refer. We will use one set of parameters each time and tune the corresponding velocity.
26 22 Elmo HARmonica Tuning Guide HARTG First set the Displacement to +/-1000 and the Velocity to 20,000. You will see the last row in the table marked. Uncheck the Gain Scheduling ON and Profiler Mode check boxes. Running a test in this way it exactly the same as running a test in manual tuning. 2. Set the same parameters as found previously on the marked row. 3. Check the Accept check box of the row after you have received acceptable parameters. There is no need to tune all the available velocities in the table. Choosing three or four velocities to tune will suffice. 4. To tune 505 cnt/sec as the second speed, set the velocity to 505 and change the Displacement to +/ Start by setting the value of KP and KI to half of the first value. 6. Setting the parameters as follows: This should result in the following graph:
27 23 7. Now, reduce the parameters until you get satisfactory results for the steady state velocity. In our case, we saw that KP = 20 and KI = gave us satisfactory performance. 8. Check the Accept check box on the 505 cnt/sec row and proceed to the next speed. 9. Select 240 cnt/sec as the last speed and set the parameters as follows:
28 24 Elmo HARmonica Tuning Guide HARTG0903 The results will be: 10. After setting acceptable parameters for each tuned speed and checking Accept in that row, click Interpolate and then check Gain Scheduling ON.
29 25 4. Tuning Position 4.1 Introduction According to the following formula, it can be seen that implementing a PI velocity loop resulted in a position controller equivalent to a PID controller with KI PID = 0; KP PID = KI speed ; KD PID = KP speed Pos Speed KI KP K I Pos Speed Speed PID KP = KP KP + KI PIP Speed KD K P Running a position with KP position = 0 and the speed PI controller found previously gives us the following result:
30 26 Elmo HARmonica Tuning Guide HARTG0903 This graph shows that the position loop is closed without closing the position constant error. 4.2 Tuning the Position Loop 1. Reduce the velocity KI by half, and set a step in velocity:
31 2. Set position KP position = 0.5/rise time. This will give a position bandwidth that equals the velocity bandwidth divided by 4. In this case, KP position = 0.5/ = 280. This results in the following performance: 27
32 28 Elmo HARmonica Tuning Guide HARTG0903
33 29 3. To better tuning position loop, complete the Wizard process and then select Tools - Advanced Manual Tuning from the Composer main menu. 4. Click in the toolbar to open the motion monitor and select the following parameters to record: Display 1: Position Error Display 2: Velocity, Velocity command Display 3: Current command 5. Set the Trigger Mode to Auto, the Source to Begin Motion and the Delay to 10%. Set the Resolution to 0.36 msec. 6. In the Advanced Manual Tuning dialog box, set the last row as displayed in the following dialog box, and use the parameters from the manual setting. Set the Step to 2000 and the Speed to 20,000 cnt/sec. 7. Uncheck the Gain Scheduling ON button.
34 30 Elmo HARmonica Tuning Guide HARTG Start the recorder and press Run Test. The following graph will be displayed:
35 31 We would expect an overshoot on the velocity followed by a small undershoot. 9. You may iterate on the KI parameter of the inner loop and on the outer loop parameter KP. The iteration range for the KI of the inner loop should not exceed 50% of its original value, and the iteration on the outer loop should not exceed 100% of its original value. Increasing the position KP to 400 gives the following: A second overshoot has occurred on the velocity and position error, which reflect instability.
36 32 Elmo HARmonica Tuning Guide HARTG Increase the position KP to 500 The following performance results: More oscillations are evident. 4.3 Lowering the Speed We can see from the graph that the system vibrates at low and zero speeds. This is due to a delay in the information caused by the sensor at low speed. The velocity loop should not be closed at a bandwidth greater than V/ cnt/sec will give a maximum bandwidth of 100Hz Once the velocity bandwidth is reduced, we should also reduce the position bandwidth.
37 33 In practice, KP position <=V/5, the velocity KP should be reduced by the same factor as position KP, and the velocity KI should be reduced by a square of that factor. In our case, KP should not be reduced until 280*5 = 1400 cnt/sec. 1. Copy the parameters of the last row to the entire table by selecting Interpolate All on that row, using the right-button pop-up menu. 2. Check the accept button of 1388 cnt/sec row in the table. 3. Set several speed parameters according to the rule described before and check each relevant Accept check box. Set the following rows: 694 cnt/sec Position KP = 700/5 = /140 = 2 Velocity KP = 75/2 = 37 Velocity KI = 18750/(2 2 ) = cnt/sec Position KP = 700/5 = /92 = 3 Velocity KP = 75/3 = 25 Velocity KI = 18750/(3 2 ) = cnt/sec Position KP = 280/5 = /56 = 5 Velocity KP = 75/5 = 15 Velocity KI = 18750/(5 2 ) = After setting the parameters and checking Accept on those rows, accept the parameters by selecting Interpolate All. 5. Check Gain Scheduling ON. 20,000 cnt/sec (150 RPM)
39 35 6. Check the Accept check box of the tuned velocities and select Interpolate All again. 7. Check the Gain Scheduling ON check box and close the Advanced Manual Tuning dialog box. In order to make the system more rigid, you can increase the GSparameter. In order to make the system more stable at low speeds and at no speed, reduce GS. The Composer sets a default value of GS that equals the highest position KP/2.5. A step with GS=280: Oscillations can be seen at the end of the motion. A step with GS=10:
40 36 Elmo HARmonica Tuning Guide HARTG0903 The position error remains for a log period. Too low a value for GS gives a poor response to external disturbance. Remember to save your application after tuning with the Advanced Manual Tuning option. The application is not saved automatically on exit.
Application Note #2442 Tuning with PL and PID Most closed-loop servo systems are able to achieve satisfactory tuning with the basic Proportional, Integral, and Derivative (PID) tuning parameters. However,
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
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.
Software Operational Manual for Easy Servo Drives ES-D508/808/1008 www.leadshine.com SM-ES-R20121030 ii Leadshine reserves the right to make changes without further notice to any products herein to improve
Servo Tuning Tutorial 1 Presentation Outline Introduction Servo system defined Why does a servo system need to be tuned Trajectory generator and velocity profiles The PID Filter Proportional gain Derivative
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 closed-loop combination
Elmo's Line Our Best Ever Motion Solutions The Duo Highly Compact Dual Axis Networking Servo Drive Up to 1.6 kw (3.2 kw Peak) of Qualitative Power Per Drive Motion Control Solutions Made Small, Smart &
Application Note Loop Tuning Commissioning of the closed loop position controller Version: 1.0.0 (EN) mr, 05/19/2014 Status: preliminary 2014 NTI AG This work is protected by copyright. Under the copyright
Chapter 6 Optimal Control System Design 6.1 INTRODUCTION The active AFO consists of sensor unit, control system and an actuator. While designing the control system for an AFO, a trade-off between the transient
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
Advanced Motion Control Optimizes Laser Micro-Drilling The following discussion will focus on how to implement advanced motion control technology to improve the performance of laser micro-drilling machines.
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
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
Dynamic control Harmonic cancellation algorithms enable precision motion control The internal model principle is a 30-years-young idea that serves as the basis for a myriad of modern motion control approaches.
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
APPLICATION DATA Procidia Control Solutions Dead Time Compensation AD353-127 Rev 2 April 2012 This application data sheet describes dead time compensation methods. A configuration can be developed within
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
Load Observer and Tuning Basics Feature Use & Benefits Mark Zessin Motion Solution Architect Rockwell Automation PUBLIC INFORMATION Rev 5058-CO900E Questions Addressed Why is Motion System Tuning Necessary?
EVALUATION ALGORITHM- BASED ON PID CONTROLLER DESIGN FOR THE UNSTABLE SYSTEMS Erliza Binti Serri 1, Wan Ismail Ibrahim 1 and Mohd Riduwan Ghazali 2 1 Sustanable Energy & Power Electronics Research, FKEE
Advanced Motion Control Optimizes Mechanical Micro-Drilling The following discussion will focus on how to implement advanced motion control technology to improve the performance of mechanical micro-drilling
Rotary Motion Servo Plant: SRV02 Rotary Experiment #02: Position Control SRV02 Position Control using QuaRC Student Manual Table of Contents 1. INTRODUCTION...1 2. PREREQUISITES...1 3. OVERVIEW OF FILES...2
Motion Control Performance Optimization Using Slotless Motors and PWM Drives TN-93 REV 1781 Section 1: Abstract Smooth motion, meaning very low position and current loop error while at speed, is critical
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
^1 SOFTWARE REFERENCE MANUAL ^2 Pmac Tuning Pro (Release Version 1.x) ^3 Servo Amplifier ^4 3A0-09WPRO-xSx3 ^5 January 28, 2003 Single Source Machine Control Power // Flexibility // Ease of Use Contents
SmartCtrl Tutorial Resonant Converter Control Loop Design 1 Powersimtech Inc. SmartCtrl 1 is a general purpose controller design software specifically for power electronics application. This tutorial is
Classical Control Design Guidelines & Tools (L10.2) Douglas G. MacMartin Summarize frequency domain control design guidelines and approach Dec 4, 2013 D. G. MacMartin CDS 110a, 2013 1 Transfer Functions
User s Manual Product SHAN5 Version 1.12 (V Series Servo Amplifier PC Tool) Model SFV02 July2005 TOSHIBA MACHINE CO., LTD. Introduction This document describes the operation and installation methods of
ME scope Application Note 02 Waveform Integration & Differentiation The steps in this Application Note can be duplicated using any ME scope Package that includes the VES-3600 Advanced Signal Processing
Hydraulic Actuator Control Using an Multi-Purpose Electronic Interface Card N. KORONEOS, G. DIKEAKOS, D. PAPACHRISTOS Department of Automation Technological Educational Institution of Halkida Psaxna 34400,
Introduction to PID Control Introduction This introduction will show you the characteristics of the each of proportional (P), the integral (I), and the derivative (D) controls, and how to use them to obtain
PID controller design on Internet: www.pidlab.com Čech Martin, Schlegel Miloš Abstract The purpose of this article is to introduce a simple Internet tool (Java applet) for PID controller design. The applet
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
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 email@example.com
SignalCalc Drop Test Demo Guide Introduction Most protective packaging for electronic and other fragile products use cushion materials in the packaging that are designed to deform in response to forces
International Journal of Science and Engineering Investigations vol. 7, issue 76, May 2018 ISSN: 2251-8843 A Searching Analyses for Best PID Tuning Method for CNC Servo Drive Ferit Idrizi FMI-UP Prishtine,
Lab 2, Analysis and Design of PID Controllers IE1304, Control Theory 1 Goal The main goal is to learn how to design a PID controller to handle reference tracking and disturbance rejection. You will design
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
TAKE HOME LABS OKLAHOMA STATE UNIVERSITY Root Locus Design by Martin Hagan revised by Trevor Eckert 1 OBJECTIVE The objective of this experiment is to design a feedback control system for a motor positioning
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.
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.
5 Lab 5: Position Control Systems - Week 2 5.7 Introduction In this lab, you will convert the DC motor to an electromechanical positioning actuator by properly designing and implementing a proportional
International Journal of Electronics Engineering Research. ISSN 0975-6450 Volume 9, Number 6 (2017) pp. 809-814 Research India Publications http://www.ripublication.com Auto-tuning of PID Controller for
Tutorial April 2016- How to Contact: firstname.lastname@example.org This SmartCtrl Tutorial by Carlos III University is licensed under a Creative Commons Attribution 4.0 International License: You are free
23 CHAPTER 2 PID CONTROLLER BASED CLOSED LOOP CONTROL OF DC DRIVE 2.1 PID CONTROLLER A proportional Integral Derivative controller (PID controller) find its application in industrial control system. It
The MFT B-Series 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
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
In this lecture, we will examine a very popular feedback controller known as the proportional-integral-derivative (PID) control method. This type of controller is widely used in industry, does not require
6.270 Lecture Control Systems Steven Jorgensen Massachusetts Institute of Technology January 2014 Overview of Lecture Feed Forward Open Loop Controller Pros and Cons Bang-Bang Closed Loop Controller Intro
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
Pan-Tilt Signature System Pan-Tilt Signature System Rob Gillette Matt Cieloszyk Luke Bowen Final Presentation Introduction Problem Statement: We proposed to build a device that would mimic human script
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
Copyright 2014 YASKAWA ELECTRIC CORPORATION All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic,
EasyMotion User s Manual Ver. 3.01 2001 Applied Cybernetics Chapter 1. Introduction. Welcome to EasyM otion. This complete motion system setup program provides you with all the tools you need to test hardware
Position Control of AC Servomotor Using Internal Model Control Strategy Ahmed S. Abd El-hamid and Ahmed H. Eissa Corresponding Author email: Ahmednrc64@gmail.com Abstract: This paper focuses on the design
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
Adaptive Control - Autotuning Structure of presentation: Relay feedback autotuning outline Relay feedback autotuning details How close is the estimate of the ultimate gain and period to the actual ultimate
Active Vibration Isolation of an Unbalanced Machine Tool Spindle David. J. Hopkins, Paul Geraghty Lawrence Livermore National Laboratory 7000 East Ave, MS/L-792, Livermore, CA. 94550 Abstract Proper configurations
Controllers Technical Information Configuration Example of Control controllers The following is an example of the configuration of temperature control. Controller Relay Voltage Current SSR Cycle controller
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, L-792, Livermore,
Robot Joint Angle Control Based on Self Resonance Cancellation Using Double Encoders Akiyuki Hasegawa, Hiroshi Fujimoto and Taro Takahashi 2 Abstract Research on the control using a load-side encoder for
1 YEAR / SEM: II / IV EC 1256. CONTROL SYSTEMS ENGINEERING UNIT I CONTROL SYSTEM MODELING PART-A 1. Define open loop and closed loop systems. 2. Define signal flow graph. 3. List the force-voltage analogous
v. 8.0 GMS 8.0 Tutorial Shapefile import, display, and conversion Objectives Learn how to import and display shapefiles with and without ArcObjects. Convert the shapefiles to GMS feature objects. Prerequisite
Lecture 4 Scalar control synthesis The lectures reviews the main aspects in synthesis of scalar feedback systems. Another name for such systems is single-input-single-output(siso) systems. The specifications
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.
Part 1B Experimental Engineering Integrated Coursework Location: DPO Experiment A1 (Short) Dynamic Vibration Absorber Please bring your mechanics data book and your results from first year experiment 7
American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS) ISSN (Print) 233-440, ISSN (Online) 233-4402 Global Society of Scientific Research and Researchers http://asrjetsjournal.org/
PID-CONTROL 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.
International Academic Institute for Science and Technology International Academic Journal of Science and Engineering Vol. 3, No. 10, 2016, pp. 1-16. ISSN 2454-3896 International Academic Journal of Science
TUNING OF PID CONTROLLER USING PSO AND ITS PERFORMANCES ON ELECTRO-HYDRAULIC SERVO SYSTEM Neha Tandan 1, Kuldeep Kumar Swarnkar 2 1,2 Electrical Engineering Department 1,2, MITS, Gwalior Abstract PID controllers
EE 461 Experiment #1 Digital Control of DC Servomotor 1 Objectives The objective of this lab is to introduce to the students the design and implementation of digital control. The digital control is implemented
JUNE 2014 Solved Question Paper 1 a: Explain with examples open loop and closed loop control systems. List merits and demerits of both. Jun. 2014, 10 Marks Open & Closed Loop System - Advantages & Disadvantages
Exercise 3 Generator Operation with Speed and Voltage Regulation EXERCISE OBJECTIVE When you have completed this exercise, you will be familiar with the speed governor and automatic voltage regulator used
Application Note CTAN #287 This Application Note is pertinent to the Commander SK Water Pressure PID Loop Control This application note will describe a way to utilize the Commander SK (note that the Unidrive
Cohen-coon PID Tuning Method; A Better Option to Ziegler Nichols-PID Tuning Method Engr. Joseph, E. A. 1, Olaiya O. O. 2 1 Electrical Engineering Department, the Federal Polytechnic, Ilaro, Ogun State,
3 rd International Conference on Energy Systems and Technologies 16 19 Feb. 2015, Cairo, Egypt STABILITY IMPROVEMENT OF POWER SYSTEM BY USING PSS WITH PID AVR CONTROLLER IN THE HIGH DAM POWER STATION ASWAN