ElmoMC SimplIQ Digital Servo Drives-Bell Getting Started - Manual (Page 4)

The SimplIQ for Steppers Getting Started & Tuning and Commissioning Guide
MAN-BELGS (Ver. 1.1)
4
Chapter 4:Advanced Control Tuning..................................................................................... 52
4.1 Start Step Control...................................................................................................... 52
4.2 Identification ............................................................................................................. 52
4.2.1 Identification and Uncertainty ............................................................................................ 53
4.2.2 Identification Results Management .................................................................................... 53
4.2.3 Identification Work Point..................................................................................................... 54
4.2.4 Selecting the Identification Frequencies............................................................................. 55
Appendix A: Manual Tuning of Speed and Position Control .................................... 60
A.1 Scope........................................................................................................................... 60
A.2 Safety .......................................................................................................................... 60
A.3 Make it Simple........................................................................................................... 61
A.4 Keep Margins ............................................................................................................ 62
A.5 The Basic Concepts ................................................................................................... 62
A.5.1 Fixed- vs. Gain-scheduled Controllers............................................................................... 62
A.5.2 Resonance and Notch Filters ............................................................................................... 63
A.5.3 High Frequency Noise and Low-pass Filters .................................................................... 63
A.5.4 Evaluating a Step Response – Rise Time, Settling Time, and Overshoot. ..................... 64
A.6 The Example System................................................................................................. 65
A.7 Testing the Response of a Controller ...................................................................... 66
A.7.1 Current Limits ....................................................................................................................... 66
A.7.2 Recording the Experiment Results...................................................................................... 66
A.8 Fixed Gain Manual Tuning for a Speed Loop........................................................ 67
A.8.1 Manual Tuning of a PI Controller....................................................................................... 67
A.8.2 Manual Tuning of a PI Controller and a Low Pass Filter ................................................ 72
A.8.3 Manual Tuning of a PI Controller and a Notch Filter ...................................................... 74
A.9 Executing Manual Tuning for a Cascaded Position Controller............................ 78
A.10 Manual Tuning of Gain Scheduling........................................................................ 79
A.10.1 Manual Gain Scheduling...................................................................................................... 79
A.10.2 Automatic Gain Scheduling................................................................................................. 80
Appendix B: A Short Course in Linear Control............................................................ 82
B.1 Linear Systems and Transfer Functions.................................................................. 82
B.2 Mathematical Models for LTI Systems ................................................................... 83
B.3 Motor Systems Models ............................................................................................. 85
B.3.1 A Simple Model..................................................................................................................... 85
B.3.2 Model with Flexible Transmission (resonance) ................................................................ 86
B.4 Feedback Control ...................................................................................................... 90
B.4.1 Why Feedback is Required .................................................................................................. 90
B.4.2 Open Loop, Gain Margin and Phase Margin, Bandwidth and Stability ....................... 91
B.4.3 P, PD, PI and PID Controllers.............................................................................................. 92