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SYNAPTICON SOMANET OBLAC Drives Box, Ввод в эксплуатацию и настройка

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# Is there a PID controller auto-tuning?

A simple PID is usually not used for position control.

# How do filters influence the auto-tuning?

Using a velocity filter results in a phase delay based on the filter order and its cutoff frequency. It is
recommended to perform a system identification and tuning after filters were configured. Be
careful, filters severely reduce stability due to phase delay.

Commissioning and Tuning with SOMANET OBLAC Drives

© 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich   Documentation v 3.2.0 | Build: 2020-05-25

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Содержание SOMANET OBLAC Drives Box

Страница 1: ...Commissioning and Tuning with SOMANET OBLAC Drives Documentation v 3 2 0 Build 2020 05 25 2020 Synapticon GmbH...

Страница 2: ...mware 1 3 1 3 Launch Setup Wizard 1 3 1 4 Download Device Description XML 1 3 1 5 Load Configuration File 1 3 1 6 Save Configuration File 1 3 1 7 Download log 1 3 1 8 Factory Reset 1 3 2 User Interfac...

Страница 3: ...ing of the velocity control loop 1 5 3 3 Manual Tuning of the position control loop Cascaded controller 1 6 Test your drive at the playground 1 6 1 Prerequisites 1 6 2 Apply a defined torque to your m...

Страница 4: ...rates gain values for the cascaded position controller Velocity Autotuning Automatically generates gain values for the velocity controller Manual Tuning Description of steps required for manually tuni...

Страница 5: ...Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 3 2 0 Build 2020 05 25 5 67...

Страница 6: ...lation Guide OBLAC Drives Installation Guide OBLAC Drives Box is a physical machine that comes preinstalled with Linux OS and runs OBLAC Drives and the related services It supports access over WiFi or...

Страница 7: ...le to the lower LAN port on the back of the box Connect this to the SOMANET servo drive on port IN 1 1 3 Powering the box off and resetting If you want to manually turn the box off you can either just...

Страница 8: ...IP address given on the sticker the sticker 1 1 5 Using OBLAC Drives Box with WiFi A sticker on the side of the box contains the WiFi SSID access point name and password Connect to the WiFi access poi...

Страница 9: ...BLAC Drives Box you can simply delete the bridged connection Linux open the Connection editor with the terminal nm connection editor Double click on your Ethernet connection to edit it Enter the IPv4...

Страница 10: ...versions of OBLAC Drives that get installed will be cached on the box but they will have to be downloaded from the Internet That s it You may now proceed to commission your SOMANET servo drive Set up...

Страница 11: ...test version of Google Chrome Google Chrome 1 2 2 Getting started 1 Download the OBLAC Drives Virtual Machine image DOWNLOAD OBLAC DRIVES If you have trouble downloading from Amazon webservice please...

Страница 12: ...gain 5 Go to Virtual Machine Settings and check if two network adapters are available one set to NAT and one set to Bridged Automatic Ensure that the Replicate physical network connection state option...

Страница 13: ...get a warning that the import failed just click Retry and it will run If you get a warning that the import failed just click Retry and it will run You may also check Do not show this message again You...

Страница 14: ...Enable hypervisor application option There should be two network adapters set Share with my Mac Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch na...

Страница 15: ...r 5 Power up and connect the slaves 6 Play the virtual machine Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 3 2 0 Build 20...

Страница 16: ...run If you get a warning that the import failed just click Retry and it will run You may also check Do not show this message again You may also check Do not show this message again 5 Go to Virtual Mac...

Страница 17: ...be an Ethernet connection so it likely starts with eth Save changes 7 Power up and connect the slaves 8 Play the virtual machine 9 In case your systems hints that a swap partition is needed Commissio...

Страница 18: ...Mware Player 1 2 3 Connecting to OBLAC Drives Once your virtual machine is powered up you will find the IP address of OBLAC Drives at the top of the screen Enter this IP address in your browser and wa...

Страница 19: ...cted Now you are ready to use the features of OBLAC Drives NEXT STEP Proceed to Commissioning Guide Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch...

Страница 20: ...ure that the power saving functionality for LAN is turned OFF 4 In some cases after the start up of OBLAC Drives the URL isn t shown and the website can t get accessed In that case please try switchin...

Страница 21: ...tall the latest version After clicking Install OBLAC Drives you will be forwarded to the OBLAC Update Service and see a list of all current releases Use this list also to select between different vers...

Страница 22: ...saved to the device manually saved to the device manually 1 3 1 2 Update Firmware When this button is clicked a box appears listing the most recent firmwares available for your hardware The list is b...

Страница 23: ...ains the state changes and all occurring errors and warnings 1 3 1 8 Factory Reset When serious issues occur you can set the system back to Factory settings Attention Attention This action is irrevers...

Страница 24: ...ld accesses the Quick Open feature You can also access it by entering the shortcut Ctrl Shift p In the Quick Open field any keyword typed in will reveal the parameter that matches best The search inpu...

Страница 25: ...Quick Open input box or view the parameter documentation by clicking on the i button Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documen...

Страница 26: ...t Once you clicked on the Update button please wait until a notification pops up telling you that the installation is done Note Note Please make sure to select a firmware that fits your version of the...

Страница 27: ...lick on the stack icon and select Update Firmware Update Firmware Click on the Launch Setup Wizard link to open the setup wizard It will first ask you to give a name to your drive Commissioning and Tu...

Страница 28: ...e if you have an attached brake If you have a brake insert the parameters Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 3 2...

Страница 29: ...escribed in perform the behavior for shaking free as described in the brake release feature the brake release feature So if you have a pin So if you have a pin style brake please ensure that no heavy...

Страница 30: ...onto details and set the parameters as you wish If you want to use this encoder as a motion control sensor you will be able to test if it is properly configured in the testing area Commissioning and...

Страница 31: ...sults of the tuning process are not to your taste After finishing the wizard OBLAC Drives will open the Playground where you can test the basic functionality of your new SOMANET drive setup Commission...

Страница 32: ...e controller gains for precise motion NEXT STEP Motion control tuning Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 3 2 0 B...

Страница 33: ...or the velocity controller Manual Tuning Description of steps required for manually tuning the controller gains Manual Tuning of the current controller The generated torque is directly proportional to...

Страница 34: ...Finetune the controller gains and design the optimal control structure 4 Save the values to the drives Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101...

Страница 35: ...ake a few full turns 1 5 2 1 Concept of Auto Tuning Auto tuning is performed in three steps System identification Identifying the physical properties of the object to build a mathematical model of the...

Страница 36: ...For details see control applications For details see PID Controllers Theory Design and Tuning PID Controllers Theory Design and Tuning 1 5 2 3 Goal of Velocity Auto tuning The Velocity Auto tuning pr...

Страница 37: ...s strongly recommended to prevent hardware damage Using a Chopper Board is strongly recommended to prevent hardware damage 1 5 2 4 2 Limitations 1 The procedure should be used carefully if the system...

Страница 38: ...6 There are 2 sliders that allow users to change the frequency response test signal Torque excitation signal amplitude specifies a max percentage of the rated torque applied during the identification...

Страница 39: ...er It is recommended to use the default value Adjust the slider if a known resonance should be included into the model Low values will result in a more precise identification procedure and more stress...

Страница 40: ...ity loop with Velocity Auto Tuning for Cyclic Synchronous Velocity mode CSV 1 5 2 4 4 F A Q Can I define other velocity torque units in the custom firmware The system identification is possible only w...

Страница 41: ...ntification work A torque chirp test signal with specific frequency range is injected into the electromechanical system and the resulting velocity signal is recorded Commissioning and Tuning with SOMA...

Страница 42: ...d calibrated 1 5 2 5 2 Limitations 1 The procedure uses a linear mathematical model of the system If there are strong nonlinearities there will be a difference between the actual and the requested per...

Страница 43: ...tion has an optimization loop inside and may take a few seconds 3 After the initial tuning is done it is possible to tune the control loop more precisely by changing the gains while executing a test s...

Страница 44: ...ded to settle the step response within 2 of the reference value The auto tuning procedure will try to find gains to ensure the specified settling time given the identified model Commissioning and Tuni...

Страница 45: ...uences overshoot and rise time Practically the damping ratio effect depends on the controller type Values 1 can be used for removing overshoot but at cost of slower settling time it may also lead to u...

Страница 46: ...achieve a sharper response and a better bandwidth at a cost of overshoot Damping ratio is minimal Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch n...

Страница 47: ...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 aft...

Страница 48: ...hase delay based on the filter order and its cutoff frequency It is recommended to perform a system identification and tuning after filters were configured Be careful filters severely reduce stability...

Страница 49: ...1 5 2 6 2 Limitations The procedure uses a linear mathematical model of the system If there are strong nonlinearities there will be a difference between the actual and the requested performance Max ba...

Страница 50: ...bandwidth is a characteristic of a control loop that characterizes sharpness of the control loop Basically it is a frequency the system may follow while keeping 71 of the amplitude An example of velo...

Страница 51: ...control loop 10 Hz sine wave tracking with requested bandwidth of 80 Hz Commissioning and Tuning with SOMANET OBLAC Drives 2020 Synapticon GmbH Daimlerstra e 26 D 71101 Sch naich Documentation v 3 2 0...

Страница 52: ...tification 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 procedure...

Страница 53: ...recommended to perform a system identification and tuning after filters were configured Be careful filters severely reduce stability due to phase delay Commissioning and Tuning with SOMANET OBLAC Dri...

Страница 54: ...wever all controller gains can also be adjusted manually Manual Tuning of the current controller Manual Tuning of the velocity control loop Manual Tuning of the position control loop Commissioning and...

Страница 55: ...sult in stable but not sharp controller behavior In case the user wants to improve the tuning of current loop controllers the following steps are suggested Set Ki 0 and Kp 2 500 Enable the controller...

Страница 56: ...mmand with a period of 1 second and amplitude of 5 of rated value Repeat this step until a vibration is felt in the system This vibration means that the system is close to its instability margine At t...

Страница 57: ...y out this iterative process As a general rule of thumb on which parameter to change next the following is helpful If the behaviour of the system at low frequencies shall be improved the Integral gain...

Страница 58: ...o 0 This configuration is refered to as PI P When the integrator on the velocity loop is used the gain for the position integrator should be set to 0 This configuration is refered to as P PI These ini...

Страница 59: ...similar to the simple PID controller however the structure is different and therefore a different tuning method should be used different and therefore a different tuning method should be used Commiss...

Страница 60: ...ally set it back to a lower value If anything is attached to your motor shaft e g robotic manipulator make sure there are no mechanical limits to be exceeded or anything might be manipulator make sure...

Страница 61: ...troller that can be configured and adapted to your surrounding mechanical system automatically Enter a target position in the units of encoder increments ticks and see how the motor moves there Depend...

Страница 62: ...the overshoot response times or bandwidth of your entire control loop suit your application If you encounter any problems make sure they are sorted out before you continue Reviewing the above mention...

Страница 63: ...es requires it 1 Click on the Link to open the OBLAC Drives Update Service 2 From the list of releases click INSTALL on the release of your choice 3 After installation click OPEN to return to OBLAC Dr...

Страница 64: ...Link anymore To access OBLAC Drives Update Service please manually enter port 64000 in your URL e g access OBLAC Drives Update Service please manually enter port 64000 in your URL e g 192 168 0 1 640...

Страница 65: ...of issues can be avoided by strictly following the instructions by strictly following the instructions 1 8 1 Virtualization not activated If your computer does not have the virtualization technology a...

Страница 66: ...ix this issue follow the commands given here 1 8 3 Runtime Issues One of the most common issues appears directly after installing OLAC Drives The browser will be opened and the following screen appear...

Страница 67: ...re that none of the Synapticon tool components OBLAC Drives motion master bridge or motion master are already running on the host machine as a native installation If your laptop is connected to a dock...

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