Power Brick Controller User Manual
Manual Motor Setup
172
Position Loop Tuning
Position loop tuning is performed using the tuning utility in the IDE Software.
Caution
Do not attempt to close the position loop or perform position loop
tuning on a motor which open-loop test has failed. This may lead to
dangerous runaway conditions.
There are three main tuning sub-utilities in the tuning tool:
Simple auto-tune.
Advanced Auto-Tune.
Position-Loop interactive tuning.
Simple Auto-tune
Advanced Auto-tune
For brushless motors, with the Power Brick Controller, the amplifier type is always set to PWM.
The
simple auto-tune
is self-explanatory; move the slide left for a slower natural frequency and right for
a higher natural frequency. Checking the "enable feedforward" box will also estimate the feedforward gains.
This tuning technique may be more suitable for lightly loaded motors, and lower resolution encoders.
The
advanced auto-tune
introduces more user specific inputs, such as specifying the desired natural
frequency, damping ratio, and integral action. The excitation magnitude and time are typically the same as
the ones used successfully in the open-loop test.
Note
The automatic tuning techniques are conceived for rough tuning,
which may be suitable for most applications. Fine tuning is typically
performed using the interactive utility.
