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Appendix C: Tuning Your System

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Appendix C: Tuning Your System

C.1 General Description

The DSPpro controls servo motors by comparing the desired (command) and actual positions.
The difference between the command and actual positions is defined as the position error. As the
position error increases the motor control signals (analog output or step pulse rate) are increased
to counteract the error. The computation of the value of the control output for a given position
error is determined by the digital filter coefficients.

The process of adjusting these coefficients to provide the best control for a particular system of
motors and loads is called “tuning.” This section describes each digital filter coefficient and
gives guidelines for system tuning.

There are generally two methods used for tuning closed loop digital control systems: calculation
and trial and error. Calculation involves rather complex mathematics and precise knowledge of
all of the system parameters such as motor and amplifier response, load inertia and friction.
Texts on control systems provide methods for calculation of the tuning parameters for a large
variety of applications (See references).

The trial and error method has the advantage that no knowledge of the control system parameters
is necessary and no calculations are needed. A large number of trial parameters may be needed
however to tune a system and some combinations of parameters may produce an unstable or
runaway system.

An organized approach to searching for the best combination of tuning parameters helps shorten
the tuning time while avoiding an unstable combination which may damage the system.

The methods of tuning described in this section rely upon the SETUP program, described in
detail in chapter 5, “MEI Software.” Please be sure to review this section before tuning your
system.

C.1.1 The Digital Filter

The DSP calculates an axis’ output (analog voltage or pulse rate) based on a PID servo control
algorithm. The input to the PID algorithm is the current position error. The current position error
equals the difference between the command position and the actual position. The actual position
is controlled by the feedback device, and command position is controlled by the trajectory
calculator. The PID algorithm is based on the following formula:

On = KR ( Kp*En + Kd*(En - En-1) + Ki*Sn + Kv*Vn + 64*Ka*An + Kf * Mn) + Ko

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Содержание DSPpro Series

Страница 1: ...d and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In stock Ready...

Страница 2: ...rbara CA 93117 ph 805 681 3300 fax 805 681 3311 info motioneng com www motioneng com DSPpro Series Motion Developer s User Manual March 2002 Artisan Technology Group Quality Instrumentation Guaranteed...

Страница 3: ...ntents of this document may not be disclosed to third parties translated copied or duplicated in any form in whole or in part without the express written permission of Motion Engineering Inc The infor...

Страница 4: ...t 10 3 2 3 Calculate Next Trajectory Point 10 3 2 4 Check for Event Triggers 11 3 2 5 Perform Event Actions 11 3 2 6 Calculate and Set DAC Output 11 3 3 Hardware Features 12 3 3 1 Step Motor Control v...

Страница 5: ...tion Controlled Servo Motors 44 6 5 Wiring Step Motors 44 6 5 1 Open Loop Step Motors 44 6 5 2 Direction Pulse Synchronization 46 6 5 3 Closed loop Step Motors 47 6 6 Wiring for Dual Loop Control 48 6...

Страница 6: ...Ppro VME specifications 77 B 2 DSPpro Serial specifications 80 APPENDIX C TUNING YOUR SYSTEM 83 C 1 General Description 83 C 1 1 The Digital Filter 83 C 2 Tuning Parameters 84 C 2 1 Proportional Gain...

Страница 7: ...iv Table of Contents C 4 3 Step 3 Setting the Integral Gain Ki 91 INDEX 92 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 8: ...ts be sure to include specific notes about where you are having problems Also don t forget to include your phone and FAX numbers and e mail address The latest releases of software and firmware are ava...

Страница 9: ...self explanatory for experienced developers who prefer to explore and learn on the fly 1 3 Software Updates MEI periodically releases new software firmware versions New features are implemented perfo...

Страница 10: ...Ppro PC The DSPpro PC is a board level controller designed for PC compatible ISA bus computers 1 Open the shipping container and carefully remove its contents Be sure to observe proper ESD handling pr...

Страница 11: ...serial port e g COM1 of the host computer using a null modem cable available from MEI as accessory cable CBL D9 CONSOLE 4 Connect your 24 VDC power lines to the screw terminal connector which plugs in...

Страница 12: ...the floppy disk drive of your PC 3 If you are using the DSPpro Serial or DSPpro VME execute the program by typing REMSVR from a DOS prompt on your host PC If the DSPpro console cable is connected to...

Страница 13: ...itive offsets produce increasing position value If not swap the A and B encoder leads and swap the A and B encoder leads 12 Clear the position with the Status Position Status F2 window 13 Put the axis...

Страница 14: ...0A Oct 11 1996 14 10 40 Listening on COM1 5 Exit from RCONSOLE or REMSVR by typing ALT X 6 Execute the SETUP program by typing ssetup from a DOS prompt on your host PC if you are connecting to a DSPpr...

Страница 15: ...atus F3 window 12 Command a trapezoidal motion using the Motion Two Point Motion Window 13 Verify that the motor turns one rotation when the appropriate number of steps are commanded Artisan Technolog...

Страница 16: ...ing tools Microsoft Borland etc Compiled programs can be downloaded to the DSPpro and stored in on board flash memory With embedded DOS running on the Intel 386EX standard programs can execute on the...

Страница 17: ...ple rate the DSP reads all eight encoder inputs and stores them into memory for future use Then the DSP runs a series of events for each axis before the next timer interrupt 3 2 2 Read Analog and Para...

Страница 18: ...ulate and Set DAC Output The DSP calculates an axis output analog voltage or pulse rate based on a PID servo control algorithm The input to the PID algorithm is the current position error The current...

Страница 19: ...Hz The voltage level at which steps are produced by the VFCs is determined by the internal DAC offset set by the CONFIG program This offset is usually required so that the DAC s output zero agrees wit...

Страница 20: ...stant velocity move will have an acceleration frame followed by a slowing or constant velocity frame These two frames are downloaded into the buffer for DSP execution The library s job is to simplify...

Страница 21: ...E The DSPpro VME is a board level controller designed for VME compatible computers running a variety of operating systems It occupies a single 6U VME expansion slot Before installing the DSPpro VME yo...

Страница 22: ...nfigured To select an IRQ line turn ON the corresponding switch while leaving the other switches off Be sure to never turn more than one IRQ line ON at any one time as this may result in erratic syste...

Страница 23: ...the controller it must be properly connected to the Console and COM ports on the DSPpro The Console connects to the host for booting etc and the COM is for the application developer to use if desired...

Страница 24: ...tc for each axis We recommend that you use the SETUP program to thoroughly test the hardware Make sure you can perform two point motion using repeat with all of your motors before you write any code I...

Страница 25: ...ion Engineering Inc Copyright C 1992 1995 General Software Inc 00896 KB OK Embedded BIOS ROM Disk Enabled Embedded BIOS REMOTE Disk COM1 CONNECTED Starting MS DOS Server 1 00A Oct 11 1996 14 10 40 Lis...

Страница 26: ...he board Set axis Same as the ENTER key Set the axis to display the current values in data memory Save Store the window values into DSPpro boot non volatile memory Read Bring values from boot non vola...

Страница 27: ...le with the extension ABS Selecting Load Defaults From Disk will load the values from a disk file into the boot memory on board Screen Values Save Defaults Save Defaults to File Load Defaults from Fil...

Страница 28: ...the configuration for axes 4 6 5 1 3 SETUP Screens The SETUP screens are organized under four main menu categories File Load default parameters from a disk file Store default parameters to a disk file...

Страница 29: ...rs Save Defaults to File Selecting Save Defaults to File will write a disk file containing the firmware PID parameters limit switch configurations software limit configurations etc The filename may be...

Страница 30: ...n environment variable called DSP and automatically set the base address The only understood parameter currently is BASE which is used to specify the base I O address of the controller If BASE is spec...

Страница 31: ...the command velocity Vn command velocity An command acceleration 2 6 Sn integrated error Smax maximum integrated error Proportional Gain The proportional gain affects the analog command voltage or pul...

Страница 32: ...pendix C Tuning Your System for more information on setting acceleration feed forward Velocity Feed Forward The velocity feed forward term is used to add extra output during constant velocity to reduc...

Страница 33: ...0 00305 volts unit or 0 to full scale pulse rate for steps Shift Range This parameter is used to shift the range of the tuning parameters The shift factor multiplies or divides all the filter paramete...

Страница 34: ...the encoder input for the axis in effect digitally closing the loop on board Filter PID D A Voltage to Frequency Converter Analog Output Active if Stepper Axis Output Step Encoder Inputs Active if Clo...

Страница 35: ...re information see the section on home switch wiring Bipolar Unipolar This selection configures whether the analog output is unipolar 0 to 10 volts or bipolar 10 volts to 10 volts When using analog se...

Страница 36: ...velocity is zero Always During motion and when standing Limit Switch Configuration Window Figure 5 3 Configure Limit Switch Configuration Window This window defines the active state of the home switch...

Страница 37: ...is axis Reset This selection will perform a power up reset of the DSP controller The software and hardware configurations are re read from boot memory the command and actual positions are reset the am...

Страница 38: ...actual and command positions Figure 5 5 Status Position Status Window Axis Status Window Figure 5 6 Status Axis Status Window This window displays the real time status of the flags for the axis displ...

Страница 39: ...t event on an axis Running E Stop etc The buttons on the right of the window perform the following functions Button Description Clear Reset all flags clear stops and E stops Idle Set analog and step d...

Страница 40: ...ts steps per second 2 and counts steps per second 3 The GO button is used to start the motion The Repeat and End Repeat fields may be used to start or stop repetitive motion The E STOP field is used t...

Страница 41: ...ompt of your host PC If the DSPpro console cable is connected to COM2 of your PC execute REMSVR by typing REMSVR 2 You will see the following output in the REMSVR window of your PC Motion Engineering...

Страница 42: ...8AXIS ABS onto the DSPpro Quick Start Disk 2 Edit the AUTOEXEC BAT file on the DSPpro Quick Start Disk and place a REM command at the front of the line which calls SERVER 3 If you are using the DSPpr...

Страница 43: ...ta memory with random values Part 3 Testing boot memory with linear values Part 4 Testing boot memory with random values Loaded firmware from 8AXIS ABS 0 276 Motion Test 453 Motion Test Passed 1 247 M...

Страница 44: ...STC modules The following are suggested accessory configurations For DSPpro VME STC 20 Connection module for analog input lines one required per board STC 26 Connection module for motor axes one requ...

Страница 45: ...User I O and Analog Inputs 8 Axes 2 3 Axes 4 5 Axes 6 7 Console COM STC D50 CBL D50 STC D50 CBL D50 Figure 6 3 DSPpro Serial Configuration with Connection Accessories D S P p ro V M E C B L 5 0 C B L...

Страница 46: ...6 2 1 DSPpro VME Motor Signal Pinouts P4 P7 The table below summarizes the pinouts for the 26 pin motor signal headers P4 P7 on the DSPpro VME for each pair of motor axes Pin Signal Axis Pin Signal Ax...

Страница 47: ...Console CO M Axes 0 1 Figure 6 6 Motor Signal Header Locations DSPpro Serial 6 3 1 DSPpro Serial Motor Signal Pinouts P1 P4 Pin Signal Axis Pin Signal Axis 1 5V 1st 26 5V 2nd 2 GND 1st 27 GND 2nd 3 En...

Страница 48: ...ent noise immunity When used with differential encoders the differential line receiver LM26LS32 on the controller reads the difference between A and A and between B and B By reading the difference bet...

Страница 49: ...ervo Drive 2 9 GND 3 4 5 6 7 8 Encoder A Servo Encoder A Encoder B Encoder B Encoder Index Encoder Index To Motor Encoder 2 1 GND 5 volts DSPpro Serial Servo Drive Motor Encoder Encoder A Encoder A En...

Страница 50: ...h Differential Encoder Axis 0 DSPpro PC and DSPpro VME Models STC D50 2 9 GND 3 4 5 6 7 8 Encoder A Servo Encoder A Encoder B Encoder B Encoder Index Encoder Index To DSPpro Serial Encoder A Encoder A...

Страница 51: ...the step pulse output connected to the driver is fed back into the controller and used to keep track of the actual position Thus the DSP closes the loop internally on a pair of axes when the open loop...

Страница 52: ...Step Wiring Axis 0 DSPpro VME For drives that trigger on the falling edge of the pulse input use Step instead of Step STC D50 Stepper Drive 2 10 GND To Motor 12 Step Direction DSPpro Serial Stepper D...

Страница 53: ...the board should be connected to the pulse input on the drive If the driver triggers on the rising edge then the Step Pulse from the board should be connected to the pulse input on the drive The Direc...

Страница 54: ...oop step motors to the board is similar to servo motors except that the step and direction lines are connected instead of the analog signal The minimum connections are Step or Step Direction or Direct...

Страница 55: ...g a motor For example if axis 0 is configured for velocity feedback and axis 1 is configured for positional feedback the system would be connected as follows STC 26 Brushless Amp Motor 14 22 GND 3 4 5...

Страница 56: ...onnection to the Excel Precision 1000A interferometer is done through an optional MEI interface board bus buffer board Standard CBL 50 ribbon cables are used to connect to the buffer board Artisan Tec...

Страница 57: ...sition Data Bit 9 P1 29 ALL Position Data Bit 10 P1 27 ALL Position Data Bit 11 P1 25 ALL Position Data Bit 12 P1 23 ALL Position Data Bit 13 P1 21 ALL Position Data Bit 14 P1 19 ALL Position Data Bit...

Страница 58: ...nnection of the output enable BP_output_hold 1C0 16 P3 15 depends on the number of axes BP_clock 17 For 1 axis systems connect the GND GND 18 P1 34 output enable to ground P1 40 19 For multi axis syst...

Страница 59: ...8 P20 2C4 46 P1 07 P22 2C6 47 P1 03 P21 2C5 48 P1 05 P24 1A0 49 P3 47 P23 2C7 50 P1 01 P26 1A2 51 P3 43 P25 1A1 52 P3 45 P28 1A4 53 P3 39 P27 1A3 54 P3 41 P29 1A5 55 P3 37 GND GND 56 P1 04 P31 1A7 57...

Страница 60: ...configured as inputs or outputs in groups of 8 On DSPpro VME controllers the unused Dedicated I O for axes 4 7 is available for use as User I O except for the Home Sensor Inputs 7 2 I O Wiring DSPpro...

Страница 61: ...ser Port 3 6 bits in or 6 bits out P3B Dedicated Inputs for Axes 6 and 7 or User Port 4 6 bits in or 6 bits out P3C Dedicated Outputs for Axes 4 7 or User Port 5 8 bits input or output The function of...

Страница 62: ...3 15 25 3 P3 45 33 4 P3 29 41 5 P3 13 26 3 P3 N A 34 4 P3 N A 42 5 P3 11 27 3 P3 41 35 4 P3 25 43 5 P3 9 28 3 P3 39 36 4 P3 23 44 5 P3 7 29 3 P3 37 37 4 P3 21 45 5 P3 5 30 3 P3 N A 38 4 P3 N A 46 5 P3...

Страница 63: ...Amp Enable 1st 40 Amp Enable 2nd 16 In Position 1st 41 In Position 2nd 17 Amp Fault 1st 42 Amp Fault 2nd 18 Home 1st 43 Home 2nd 19 Positive Limit 1st 44 Positive Limit 2nd 20 Negative Limit 1st 45 N...

Страница 64: ...switch wiring DSPpro VME only For small electrically quiet machines the home and limit switches can be wired directly to the dedicated inputs For larger noisier machines optical isolation is recommend...

Страница 65: ...dance High Z 1 micro amp leakage current High 3 0V at 2 5 milliamp source current and Low 0 4V at 2 5 milliamperes sink current If there is no power to the 82C55 the output state is held low by input...

Страница 66: ...n be set with the function libraries Refer to the MEI DSP Series Motion Controller C Programming Manual for detailed information DSPpro Serial controllers have internal opto isolation so no external I...

Страница 67: ...re are 3 16 bit counters available for user functions Counter 0 can take an external clock input pin 3 on P8 and Counters 1 and 2 have fixed frequency inputs of 1 25 and 10 MHz respectively The gate s...

Страница 68: ...he DSPpro s CPU When you re satisfied with the operation of your program on the DSPpro simply download the application using the flash memory utilities to commit it to the non volatile memory on the D...

Страница 69: ...d to compile yourapp c C TEST cl AL yourapp c medcl80l lib MEI supplies pre compiled C function libraries for many popular compilers and source code libraries to use with unsupported development envir...

Страница 70: ...llowing sections describe these tools 8 2 1 Configuring Communications All DSPpro Series controllers have the capability to communicate with the host system using two RS 232 serial ports The two ports...

Страница 71: ...e DSPpro Boot Disk to provide the DOS shell to the DSPpro controller when testing your application Before using RCONSOLE you will need to copy your application to the DSPpro Boot Disk Be sure to make...

Страница 72: ...necessary to use REMSVR to test your application before committing it to flash memory REMSVR uses the DSPpro Boot Disk to provide the DOS shell to the DSPpro controller Because the DSPpro uses the flo...

Страница 73: ...the console output if any on the monitor of your host computer 6 To exit REMSVR type Alt X Your program will continue to run on the DSPpro uninterrupted until it terminates 8 2 4Configure DOS startup...

Страница 74: ...remsvr 2 If the console cable is connected to COM2 on the host 3 Reset the controller by pressing the reset button or by toggling the power supply The DSPpro will then attempt to connect to the REMSV...

Страница 75: ...nnector Locations DSPpro VME A 2 Connector pinouts DSPpro VME Motor Axes Connections P4 P7 26 pin box header Analog Input Connections P8 20 pin box header Pin Signal Axis Pin Signal 1 GND 1st 1 GND 2...

Страница 76: ...2nd 16 Analog in 6 17 Encoder A 2nd 17 Out 2 18 Encoder B 2nd 18 Analog in 7 19 Encoder B 2nd 19 GND 20 Encoder Index 2nd 20 Analog GND 21 Encoder Index 2nd 22 10V Analog Out 2nd 23 Step Pulse 2nd 24...

Страница 77: ...6 21 NEG Limit Input 3 7 21 I O Line B 5 23 POS Limit Input 3 7 23 I O Line B 4 25 Amp Fault Input 2 6 25 I O Line B 3 27 Home Input 2 6 27 I O Line B 2 29 NEG Limit Input 2 6 29 I O Line B 1 31 POS L...

Страница 78: ...ncoder Index 0 32 Encoder Index 1 8 Encoder Index 0 33 Encoder Index 1 9 10V Analog Out 0 34 10V Analog Out 1 10 Step Pulse 0 35 Step Pulse 1 11 Step Pulse 0 36 Step Pulse 1 12 Direction 0 37 Directio...

Страница 79: ...Step Pulse 2 35 Step Pulse 3 11 Step Pulse 2 36 Step Pulse 3 12 Direction 2 37 Direction 3 13 Direction 2 38 Direction 3 14 None 39 None 15 Amp Enable 2 40 Amp Enable 3 16 In Position 2 41 In Position...

Страница 80: ...Step Pulse 4 35 Step Pulse 5 11 Step Pulse 4 36 Step Pulse 5 12 Direction 4 37 Direction 5 13 Direction 4 38 Direction 5 14 None 39 None 15 Amp Enable 4 40 Amp Enable 5 16 In Position 4 41 In Position...

Страница 81: ...Step Pulse 6 35 Step Pulse 7 11 Step Pulse 6 36 Step Pulse 7 12 Direction 6 37 Direction 7 13 Direction 6 38 Direction 7 14 None 39 None 15 Amp Enable 6 40 Amp Enable 7 16 In Position 6 41 In Position...

Страница 82: ...I O PB1 36 Analog In 0 12 User I O PB2 37 Analog Ground 13 User I O PB3 38 Analog In 1 14 User I O PB4 39 Analog Ground 15 User I O PB5 40 Analog In 2 16 User I O PB6 41 Analog Ground 17 User I O PB7...

Страница 83: ...8 CTS 4 DTR 9 RI 5 Ground DSPpro Serial P9 COM Pin Signal Pin Signal 1 None 6 None 2 TxD B 7 None 3 RxD B 8 None 4 None 9 Ground 5 None DSPpro Serial P100 Power Input Pin Signal Pin Signal 1 Ground I...

Страница 84: ...ications Interface RS 232 serial ports 2 Speed 115 kbps maximum Memory 1 Mbyte flash memory 1 Mbyte RAM Motion Control Features Point to point motion Coordinated motion Electronic gearing and camming...

Страница 85: ...grammable rate Maximum 10 kHz 1 axis 3 kHz 4 axes 1 6 kHz 8 axes Default 1 25 kHz Servo Output 10V DC at 16 bit resolution 18 mA current Wide range dynamic PID control with VFF and AFF Friction compen...

Страница 86: ...detection RS 422 line receivers digital filtering Analog position Temposonics direct connection Power Requirements 5 V Icc 1A max 12V Icc 10mA max 12V Icc 20mA max Environmental Conditions Operating t...

Страница 87: ...mmutation Sinusoidal encoder interpolation Feed speed override Dual loop control Tangential following High speed registration Hundreds of other features Software Development Tools MEI standard C funct...

Страница 88: ...t resolution 1 2 LSB linearity 8 channel multiplexed inputs with track and hold Software configurable for 4 channel differential mode 0 5 V unipolar 2 5 V bipolar Position Feedback Incremental encoder...

Страница 89: ...2 H x 5 W x 9 L Weight 3 0 lbs 1 36 kg Power Requirements 24 V DC 0 7 A typical Environmental Conditions Operating temperature 0 50 degrees C Humidity 20 95 RH non condensing Artisan Technology Group...

Страница 90: ...a large variety of applications See references The trial and error method has the advantage that no knowledge of the control system parameters is necessary and no calculations are needed A large numb...

Страница 91: ...t can be adjusted using the SETUP program and is explained in the following sections C 2 Tuning Parameters C 2 1 Proportional Gain Kp This term determines the overall response of a system to position...

Страница 92: ...to the system by preventing overshoot as the error changes A low value for the Derivative Gain causes the system to have very fast response to changes in position error but may have overshoot or ringi...

Страница 93: ...zero A low or zero value for Integral Gain may have position errors at rest which depend on the static or frictional loads and the Proportional Gain Increasing the Integral Gain can reduce these error...

Страница 94: ...ard Kv The velocity feed forward term is very important when used with velocity controlled servos or closed loop step motors As the speed of a system increases the position error generally increases a...

Страница 95: ...egration term can be set to active always or active when at rest command velocity 0 only C 2 7 Offset Ko The offset term compensates for small variations in controller DAC outputs and amplifier offset...

Страница 96: ...Set Velocity and Acceleration Feed Forward For new systems this sequence of steps should be performed twice once with no motor load to provide a stable set of starting terms and once with the motor l...

Страница 97: ...een moves Gradually increase Ki until the final position error is 1 or 2 encoder counts As you increase Ki above this level watch for oscillation at the beginning or end of the motion If oscillation o...

Страница 98: ...Motion Two Point Motion window for a move which takes 5 to 10 seconds using a typical desired speed and acceleration Notice the position error during the constant speed portion of the motion Increase...

Страница 99: ...onnection configuration 42 connector pinouts 74 direction pulse synchronization 51 header locations 44 motor signal headers 73 motor signal pinouts 44 servo motor wiring 46 switch locations 17 switch...

Страница 100: ...otion menu 37 mouse and trackball support 22 position status window 35 screens 25 software limits window 34 status menu 34 tuning parameters window 27 Shift 101 Software firmware updates 2 Software li...

Страница 101: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...

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