2.4.2.5.4 Next steps
After tuning your motion control system, you can for example improve performance by using these features:
Removes ripples caused by magnetic interaction between motor rotor
and stator.
Digital filters can be used to remove unwanted frequencies such as noise or
nonlinear effects.
Applies controller gains which will change dynamically regarding the current speed.
2.4.2.5.5 F.A.Q.
# Do I need to manually adjust controller gains after the auto-tuning?
Usually, sliders provide enough flexibility to achieve demanded performance. Mismatches between
requested and actual step response can be compensated by entering a faster settling time.
# Can I define other position/velocity/torque units in the custom firmware?
The auto-tuning will provide gains only for default units.
# What if my encoder has low resolution?
This will definitely result in worse performance compared to higher resolution encoders. Additionally, the
velocity signal used in system identification might have multiple zeros that may result in incorrect model.
# Do I have to repeat system identification and tuning after I attached a load to the system?
It is better to repeat both procedures. If it is not possible to repeat the system identification, auto-tuning
still can be used. But the resulting settling time will differ from the requested.
# What if the system is unstable after auto-tuning?
Try to input a slower settling time.
Check the motor and sensor configuration parameters.
Check the velocity signal in the playground in the torque control mode. Ensure that it shows correct data
during manual rotation of the shaft.
Soften filters in position/velocity control loops. They might introduce delay.
# What if the test signals trigger overcurrent/undervoltage?
Reduce the test signal amplitude or frequency.
Increase the settling time.
Check the configuration of the motor and sensor.
Make sure that correct power supply is used.
# Is there a PID controller auto-tuning?
A simple PID is usually not used for position control.
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