XMP Single Axis TuningPIV
September 2000
Single Axis MOCON 2
Set Kpv with no Smoothing Filter 3
Set Kpv with no Smoothing Filter 4
Important XMP Settings1. Kvff = 12. Kpp=03. Error limit should be set for move distance4. Position error limit action set to abortParameters to be adjusted1. Kpv
Kpv too low with no Smoothing Filter
5
Commanded Velocity – BlackActual Velocity – GreenDAC Out - Yellow
Kpv too High with no Smoothing Filter
6
Commanded Velocity – BlackActual Velocity – GreenDAC Out - Yellow
Kpv Acceptable with no Smoothing Filter
7
Commanded Velocity – BlackActual Velocity – GreenDAC Out - Yellow
Adjust Kpv with Smoothing Filter
8
Set Kpv with Smoothing Filter 9
Important XMP Settings1. Kvff = 12. Kpp=03. Error limit should be set for move distance4. Position error limit action set to abortParameters to be adjusted1. Kpv2. Ka1 is varied from 0 to 1 after Kpv is set.
Kpv too Low with Smoothing Filter 10
Commanded Velocity – BlackActual Velocity – GreenDAC Out - Yellow
Kpv too High With Smoothing Filter
11
Commanded Velocity – BlackActual Velocity – GreenDAC Out - Yellow
Kpv Acceptable with Smoothing Filter 12
Commanded Velocity – BlackActual Velocity – GreenDAC Out - Yellow
Adjust Kpp 13
Set Kpp 14
Important XMP Settings1. Kvff = 0 2. Kpv value already set3. Ka1 value already set 4. Error limit should be set for move distance5. Position error limit action set to abortParameters to be adjusted1. Kpp
Kpp too low 15
Commanded Velocity – BlackActual Velocity – GreenDAC Out - Yellow
Kpp acceptable 16
Position Error – BlackCommanded Velocity - RedActual Velocity – Green
DAC OUT - Yellow
Kpp too High 17
Position Error – BlackCommanded Velocity - RedActual Velocity – Green
DAC Out Yellow
Adjust Kvff 18
Set Kvff 19
Important XMP Settings1. Kpp value already set2. Kpv value already set3. Ka1 value already set 4. Error limit should be set for move distance5. Position error limit action set to abortParameters to be adjusted1. 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 20
Position Error – BlackCommanded Velocity - RedActual Velocity – Green
Position Error – BlackCommanded Velocity - RedActual Velocity – Green
DAC OUT - Yellow
Adjust Kip 21
Set Kip 22
Important XMP Settings
1. Kvff value already set2. Kpp value already set3. Kpv value already set4. Ka1 value already set 5. Error limit should be set for move distance6. Position error limit action set to abortParameters to be adjusted1. Kip
Kip low 23
Commanded Velocity – BlackActual Velocity – GreenDAC Out - Yellow
Kip Acceptable 24
Commanded Velocity – BlackActual Velocity – GreenDAC Out - Yellow
Kip too High 25
Commanded Velocity – BlackActual Velocity – GreenDAC Out - Yellow
Set Acceleration Feedforward. 26
Set Kaff 27
Important XMP Settings1. Kip value already set2. Kvff value already set3. Kpp value already set4. Kpv value already set5. Ka1 value already set 6. Error limit should be set for move distance7. Position error limit action set to abortParameters to be adjusted1. Kaff
Jerk and Acceleration Profiles Kaff=0
28
Commanded Velocity – RedActual Velocity – GreenDAC Out - Purple
Commanded Jerk – BrownCommanded Acceleration – Green
Kaff is set 29
Commanded Velocity – RedActual Velocity – GreenDAC Out - Purple
Commanded Jerk – BrownCommanded Acceleration – Green
Viewing Axis Object with VM3 30
Filter Tool 31
Filter Tool Features 32
1. Designs Low Pass, Notch and Custom Filters
2. Filters specified in Analog Domain
3. Mapped to digital domain with bilinear Transform
4. Prewarping performed for Low Pass and Notch Filters
5. Saves Filter Coefficients to a file
6. Loads Filter Coefficients from a file.
7. 6 Biquad blocks for PID
8. 5 Biquad blocks for PIV
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