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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


Single axis mocon
Single Axis MOCON

2



Set kpv with no smoothing filter1
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


Kpv too low with no smoothing filter
Kpv too low with no Smoothing Filter

5

Commanded Velocity – Black

Actual Velocity – Green

DAC Out - Yellow


Kpv too high with no smoothing filter
Kpv too High with no Smoothing Filter

6

Commanded Velocity – Black

Actual Velocity – Green

DAC Out - Yellow


Kpv acceptable with no smoothing filter
Kpv Acceptable with no Smoothing Filter

7

Commanded Velocity – Black

Actual Velocity – Green

DAC Out - Yellow



Set kpv with smoothing filter
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.


Kpv too low with smoothing filter
Kpv too Low with Smoothing Filter

10

Commanded Velocity – Black

Actual Velocity – Green

DAC Out - Yellow


Kpv too high with smoothing filter
Kpv too High With Smoothing Filter

11

Commanded Velocity – Black

Actual Velocity – Green

DAC Out - Yellow


Kpv acceptable with smoothing filter
Kpv Acceptable with Smoothing Filter

12

Commanded Velocity – Black

Actual Velocity – Green

DAC Out - Yellow



Set kpp
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


Kpp too low
Kpp too low

15

Commanded Velocity – Black

Actual Velocity – Green

DAC Out - Yellow


Kpp acceptable
Kpp acceptable

16

DAC OUT - Yellow

Position Error – Black

Commanded Velocity - Red

Actual Velocity – Green


Kpp too high
Kpp too High

17

DAC Out Yellow

Position Error – Black

Commanded Velocity - Red

Actual Velocity – Green



Set kvff
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.


Kvff acceptable
Kvff Acceptable

20

DAC OUT - Yellow

Position Error – Black

Commanded Velocity - Red

Actual Velocity – Green

Position Error – Black

Commanded Velocity - Red

Actual Velocity – Green



Set kip
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


Kip low
Kip low

23

Commanded Velocity – Black

Actual Velocity – Green

DAC Out - Yellow


Kip acceptable
Kip Acceptable

24

Commanded Velocity – Black

Actual Velocity – Green

DAC Out - Yellow


Kip too high
Kip too High

25

Commanded Velocity – Black

Actual Velocity – Green

DAC Out - Yellow



Set kaff
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


Jerk and acceleration profiles kaff 0
Jerk and Acceleration Profiles Kaff=0

28

Commanded Velocity – Red

Actual Velocity – Green

DAC Out - Purple

Commanded Jerk – Brown

Commanded Acceleration – Green


Kaff is set
Kaff is set

29

Commanded Velocity – Red

Actual Velocity – Green

DAC Out - Purple

Commanded Jerk – Brown

Commanded Acceleration – Green




Filter tool features
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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