DIGIVEX Little Drive Servoamplifier
72
PVD 3530 GB 01/2005
Setting the dynamic friction and acceleration parameters.
(It is assumed that the dry friction
and gravity predictors have been set).
Use a sine stimulus, offset 0, peak to peak value 10 to 20% of maximum speed, frequency 0.2 to
1 Hz.
Using the oscilloscope function, display:
♦
The input set point on one channel.
♦
P, PI, PI² output on the other channel.
Acceleration predictor setting. Increase the predictor until P, PI, PI2 output is minimized. Too
high a value increases P, PI, PI2 with a phase change
Input
reference
Time
Time
P, PI, PI=
Output
DIGPL43.D/
49.W
Predictor too weak or
zero
Maximum positive
acceleration
Predictor correctly
adjusted
Predictor
too high
Very marked difference between optimum setting and no predictor
The correct setting corresponds to minimum amplitude P, PI, PI
2
output. The predictor must allow
the P, PI, PI
2
output to be reduced in a ratio of at least 5 to 10.
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