XMP Single Axis Tuning PIV September 2000. Single Axis MOCON 2

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 1

1

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 2

8

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