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XMP Single Axis Tuning PIV September 2000

XMP Single Axis Tuning PIV September 2000. Single Axis MOCON. 2. Set Kpv with no Smoothing Filter. 3. Set Kpv with no Smoothing Filter. 4. Important XMP Settings Kvff = 1 Kpp=0 Error limit should be set for move distance Position error limit action set to abort

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XMP Single Axis Tuning PIV September 2000

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  1. XMP Single Axis Tuning PIV September 2000

  2. Single Axis MOCON 2

  3. Set Kpv with no Smoothing Filter 3

  4. Set Kpv with no Smoothing Filter 4 Important XMP Settings • Kvff = 1 • Kpp=0 • Error limit should be set for move distance • Position error limit action set to abort Parameters to be adjusted • Kpv

  5. Kpv too low with no Smoothing Filter 5 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

  6. Kpv too High with no Smoothing Filter 6 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

  7. Kpv Acceptable with no Smoothing Filter 7 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

  8. Adjust Kpv with Smoothing Filter 8

  9. Set Kpv with Smoothing Filter 9 Important XMP Settings • Kvff = 1 • Kpp=0 • Error limit should be set for move distance • Position error limit action set to abort Parameters to be adjusted • Kpv • Ka1 is varied from 0 to 1 after Kpv is set.

  10. Kpv too Low with Smoothing Filter 10 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

  11. Kpv too High With Smoothing Filter 11 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

  12. Kpv Acceptable with Smoothing Filter 12 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

  13. Adjust Kpp 13

  14. Set Kpp 14 Important XMP Settings • Kvff = 0 • Kpv value already set • Ka1 value already set • Error limit should be set for move distance • Position error limit action set to abort Parameters to be adjusted • Kpp

  15. Kpp too low 15 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

  16. Kpp acceptable 16 DAC OUT - Yellow Position Error – Black Commanded Velocity - Red Actual Velocity – Green

  17. Kpp too High 17 DAC Out Yellow Position Error – Black Commanded Velocity - Red Actual Velocity – Green

  18. Adjust Kvff 18

  19. Set Kvff 19 Important XMP Settings • Kpp value already set • Kpv value already set • Ka1 value already set • Error limit should be set for move distance • Position error limit action set to abort Parameters to be adjusted • Kvff is set to one Note: Kvff is set to 1 if the same encoder is used For both position feedback and the velocity estimate In a dual loop system Kvff will be the ratio of The velocity encoder to the position encoder for a given distance.

  20. Kvff Acceptable 20 DAC OUT - Yellow Position Error – Black Commanded Velocity - Red Actual Velocity – Green Position Error – Black Commanded Velocity - Red Actual Velocity – Green

  21. Adjust Kip 21

  22. Set Kip 22 Important XMP Settings • Kvff value already set • Kpp value already set • Kpv value already set • Ka1 value already set • Error limit should be set for move distance • Position error limit action set to abort Parameters to be adjusted • Kip

  23. Kip low 23 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

  24. Kip Acceptable 24 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

  25. Kip too High 25 Commanded Velocity – Black Actual Velocity – Green DAC Out - Yellow

  26. Set Acceleration Feedforward. 26

  27. Set Kaff 27 Important XMP Settings • Kip value already set • Kvff value already set • Kpp value already set • Kpv value already set • Ka1 value already set • Error limit should be set for move distance • Position error limit action set to abort Parameters to be adjusted • Kaff

  28. Jerk and Acceleration Profiles Kaff=0 28 Commanded Velocity – Red Actual Velocity – Green DAC Out - Purple Commanded Jerk – Brown Commanded Acceleration – Green

  29. Kaff is set 29 Commanded Velocity – Red Actual Velocity – Green DAC Out - Purple Commanded Jerk – Brown Commanded Acceleration – Green

  30. Viewing Axis Object with VM3 30

  31. Filter Tool 31

  32. Filter Tool Features 32 • Designs Low Pass, Notch and Custom Filters • Filters specified in Analog Domain • Mapped to digital domain with bilinear Transform • Prewarping performed for Low Pass and Notch Filters • Saves Filter Coefficients to a file • Loads Filter Coefficients from a file. • 6 Biquad blocks for PID • 5 Biquad blocks for PIV

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