ElmoMC SimplIQ Digital Servo Drives-Bell Getting Started - Manual (Page 40)

The SimplIQ for Steppers Getting Started & Tuning and Commissioning Guide
MAN-BELGS (Ver. 1.1)
40
Figure 40: Example of a frequency response
Click OK to return to the main identification screen, then save your work using
the File>Save menu. Name it MyFirstIden.idn.
3.6.3.3 Design
With the identification results you can design a controller. The controller has to
meet the following goals:
The robustness figures of merit: acceptable gain and phase margins.
Maximize crossover frequency and low frequency gain for agile and accurate
control.
Minimize high frequency response, in order to attenuate noises and in order to
de-sensitize the controller to the large uncertainties of high frequency
identification.
These is a conflict between these goals so there is a trade off. The design
environment of the conductor is built to optimize this trade off.
Example: a completely automatic design: Select the Design tool.
Select the Plant tab and click Add. Select MyFirstIden.idn as the identification
file. The following window opens: