servodrive pid parameters ?
Posted by
Anders Wallin
on 2006-05-17 00:59:09 UTC
Hi Group,
I'm toying around with a homemade AC servodrive (dsPIC microcontroller +
IRF IRAMS powerstage).
It will probably run in speed mode, i.e. a pc running EMC2 will output a
speed command (either pwm or analog) and the servodrive is supposed to
keep this speed.
I'm not done with the dsPIC software yet but I imagine it will have two
nested PID loops. One for controlling current (torque), and one for
controlling speed.
The PC running EMC2 will close the position loop.
My question is, how often do you think these torque-PID and speed-PID
loops need to be tuned ? as it is now I won't be able to tune them easily
from the computer, only way to do it is to reprogram the dsPIC.
Are the correct pid values only a function of what motor I have hooked up
or also load dependent ? (load would be different for X/Y/Z...)
maybe a simple dip swithch to select parameter and then a trimpot
digitized at 10-bit on the dsPIC would do it ?
thanks for any answers,
AW
I'm toying around with a homemade AC servodrive (dsPIC microcontroller +
IRF IRAMS powerstage).
It will probably run in speed mode, i.e. a pc running EMC2 will output a
speed command (either pwm or analog) and the servodrive is supposed to
keep this speed.
I'm not done with the dsPIC software yet but I imagine it will have two
nested PID loops. One for controlling current (torque), and one for
controlling speed.
The PC running EMC2 will close the position loop.
My question is, how often do you think these torque-PID and speed-PID
loops need to be tuned ? as it is now I won't be able to tune them easily
from the computer, only way to do it is to reprogram the dsPIC.
Are the correct pid values only a function of what motor I have hooked up
or also load dependent ? (load would be different for X/Y/Z...)
maybe a simple dip swithch to select parameter and then a trimpot
digitized at 10-bit on the dsPIC would do it ?
thanks for any answers,
AW