ADLINK Technology PCI-8254, Руководство пользователя

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80 Motion Control Theory
4.2.2 Auto Servo Tuning
The auto tuning function is aimed at designing stable and of good
performance PID controller in fast pace to provide for common
users. For advanced users, extra Manual tuning can be applied by
referencing to the auto tuning results to come out controllers more
specifically meeting special needs.
Fine tuning steps:
Step 1: Set up offset limit values
This is a safety mechanism where there will be error message
displayed in status bar at bottom of page and the fine tuning
process stops and the motor turns off in case the deviation amount
of position command against position feedback exceed given limit.
In general, when running the fine tuning process for the first time
the Deviation limit value should be set at low level in the beginning
process.
Step 2: Select axis number
Select the axis to be fine tuned in selection menu. You can fine
tune one axis at a time.
Step 3: Set up vibration amplitude
The fine tuning process calculate gain value of proportional
control, integral control, and derivative control through the back
and forth motion of motor. The settings of Amplitude determines
the final result. When running for the first time, set up vibration
amplitude at lower level at the beginning of fine tuning process.
Please note that too small a value of vibration amplitude may fail
the calculation of valid control gain.
Step 4: Advanced setup
Steps described above are basic setting. Most common users may
skip to Step 5 directly.
Certain advanced setting are provided to improve success rate
including: Data length, Hysteresis and sampling time.
CAUTION
Please set up proper position encoder and aligned output
command and move direction especially for control mode in
closed-loop control of analog output. Improper setup may lead to
servo motor bursting.