SyncPosPIDController优秀公开课课件

WhyaPID?Objective: SystemwithacorrectbehaviourMeans: Feedbackfromload ControllertolimiterrorWhat’saPIDcontroller?APIDcontrollerconcistsof3parts: P-factor:proportionalcontrol

–basedontheerrorvalue I-factor:Integralcontrol

–basedontheerrortime

D-factor:Derivativecontrol

–basedontherateoferrorchangeWhat’saPIDcontroller?TheSyncPosPIDControllerThethreecontrollerpartsTrajectorygenerator–referencePIDcontroller–closed-loop/stiffnessFeed-forwardcontroller–open-loop/dynamicTRACKERRandSYNCERR?OptimizingprocedureOptimizeVLT(AMA)+parametersettings.Setmaxallowedpositionerrortoahigh

value.CalculatePIDsampletimeOptimize

velocity

feed-forward,PIDoff.Optimizeaccelerationfeed-forward,PIDoff.OptimizeProportionalfactor.OptimizeDerivativefactor.OptimizeIntegralfactor.Setintegrationlimit.Setbandwidth.Setmaxallowedpositionerrorbacktonormal.OptimizingtoolsCalculateFeedForwardVelocityparameterFFVEL=(62914560000*#104)/(VNOM*ERES*Tsamplesample*#205).#104:VLTparameter104:Motorfrequency#205:VLTparameter205:MaximumfrequencyVNOM:isthenominalencodervelocityatnominalmotorfrequency.TheunitisRPM.ERES:isthenumberofquad-countsperencoderrevolution.Tsamplesample:isthePIDcontrollersamplinginterval

(TIMER).Optimizingtools:SyncPostestrunFirststep!!Thirdstep!!Secondstep!!OptimizingtoolsexampleFFVELtoolowOptimizingtoolsexampleIncreaseFFVELOptimizingtoolsexampleIncreaseKPROPOptimizingtoolsexampleCorrectpositioningDynamicovershootOptimizingtoolsexampleIncreaseKDER注意：现在比例一般为100左右，此处的500只是个例子而已。微分一般设置要注意，可能会导致零速时抖动。TypicalsettingsEncoderresolution:1024ppr.P702,P:50-1000P703,D:5–100timesP702.P704,I: