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PID调试步骤 HDC_Fine_Tuning_Rev_1.1.pdf
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详细介绍了高创驱动器位置环HD环环路的PID调试步骤和过程,包括抓取曲线变量的参考等;
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HD Control Fine Tuning
Application Note
Document Revision: 1.1
Firmware Version: 1.2.2
Software Version: 1.2.2.4
HD Control Fine Tuning
Application Note i
Revision History
Document
Revision
Date Remarks
1.1 June 2012 Minor corrections
1.0 June 2012 Initial release
Hardware
Revision
Firmware
Revision
Software
Revision
Remarks
1.2.2.4 1.2.2
Important Notice
© 2012 Servotronix Motion Control Ltd.
All rights reserved. No part of this work may be reproduced or transmitted in any
form or by any means without prior written permission of Servotronix Motion
Control Ltd.
Disclaimer
The information in this manual was accurate and reliable at the time of its
release. Servotronix Motion Control Ltd. reserves the right to change the
specifications of the product described in this manual without notice at any time.
Trademarks
All marks in this manual are the property of their respective owners.
Contact Information
Servotronix Motion Control Ltd.
21C Yagia Kapayim Street
Petach Tikva 49130 Israel
Tel: +972 (3) 927 3800
Fax: +972 (3) 922 8075
Website: www.servotronix.com
Email: info@servotronix.com
Customer Service
Servotronix is committed to delivering quality customer service and support for
all our products. Our goal is to provide our customers with the information and
resources so that they are available, without delay, if and when they are needed.
In order to serve in the most effective way, we recommend that you contact
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information and literature, and application and field technical assistance. If you
are unable to contact your local sales representative for any reason, please use
the most relevant of the contact details below:
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www.servotronix.com/customer-service.html
HD Control Fine Tuning
ii Application Note
HD Control Fine Tuning
Application Note iii
Contents
1 Overview __________________________________________________ 1
1.1 HD Control ................................................................................................ 1
1.2 Parameters ............................................................................................... 3
Feedback Gain Parameters .......................................................................... 3
Notch Filters ............................................................................................. 4
Low Pass Filter (Second Order) on Current Command Parameters...................... 4
Plant Flexibility Compensation Parameters ..................................................... 5
2 Preliminary Procedures _______________________________________ 6
3 Tuning Procedures __________________________________________ 10
Tuning Sequence..................................................................................... 10
Step 1 – Tuning KNLD (Derivative Gain) ...................................................... 10
Step 2 – Tuning Low Pass Filter ................................................................. 12
Step 3 – Re-tuning KNLD After Filter Change ............................................... 14
Step 4 – Tuning KNLP (Proportional Gain).................................................... 14
Step 5 – Tuning KNLIV (Derivative-Integral Gain) ......................................... 18
Step 6 – Tuning KNLI (Integral Gain) .......................................................... 21
Step 7 – Tuning Flexible System Compensation ............................................ 23
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