ElmoMC SimplIQ Digital Servo Drives-Bell Getting Started - Manual (Page 52)

The SimplIQ for Steppers Getting Started & Tuning and Commissioning Guide
MAN-BELGS (Ver. 1.1)
52
Chapter 4: Advanced Control Tuning
This chapter is intended for users wishing to use the extra flexibility of the
motion control tuning system beyond the "getting started" level.
This chapter assumes you are familiar with Section 3.6.3.
Feedback design is a four-step procedure.
The first step is to generate a low performance controller that is called the
"starting step controller".
This minimal controller only has to stabilize the motor while the plant dynamics
are identified. The
Getting Started chapter, together with the Manual Tuning
Appendix, covers this step.
The second step is to identify the plant model, that is, to find its transfer
function; amplitude-phase versus frequency. Several frequency response
measurements can describe the same plant in order to reflect plant uncertainty.
The third step is to design a controller to match the plant's frequency response.
The user orients the design optimization by emphasizing design margins,
bandwidth, or noise attenuation.
The fourth step is verification – running a 'field' evaluation test.
Notes:
The "Getting Started" chapter has taken you through all these stages, choosing
full automation. This chapter goes over the tuner options in greater detail.
The feedback design process may be iterative – you can return to the design
stage to improve on the test results, or you can return to the identification stage
to add the results of new working points.
The auto-tuner is very flexible regarding these steps, as explained in the
following sections.
4.1 Start Step Control
4.2 Identification
This chapter deals with identifying the plant including, its uncertainty.
Notes:
This Chapter focuses on understanding what you do rather than on detailed
explanations of the window controls.
Detailed explanations of the window controls are in the online help.
The window controls may differ between Conductor versions, so the
explanations given here may also vary slightly.