Power PMAC Tuning ToolOverview

Power PMAC Servo Structure

Versatile,

Allows complex servo algorithms be implemented

Allows 2 degree of freedom control designs be implemented.

Tuning Software Overview

Shows motor commutation status

(i.e. N/A Not commutated by P-Pmac

Else Phased/ not phased)

Shows motor status

highlighted when an

error occurs

Shows motor type Shows Control Alg.

Basis PID,

user-written etc

Shows active

motors

Shows

active

filters

Current Loop Auto-tuning

Sets up the current loop feedback (PI) gains – Estimates motor electromechanical properties

– Calculates the required feedback gains to achieve the desired performance

Current Loop Interactive Tuning

Lets user to tune (fine-tune) the digital current loop interactively

Typical Current Loop Step Response

Open Loop Test

Used for verification of open loop operation of the motor. Useful for time domain identification

Position Loop Auto-tuning

Automatically selects position loop feedback gains according to the desired value of natural frequency and damping ratio.

Position Loop Interactive Tuning

Interactive setting and fine tuning the position loop gains. Standard test inputs for performance verification

Typical Responses

Position Loop Filter Calculator/Setup

Calculates and sets filter coefficients Enables user to use single, double, and low pass filter of

various orders. Enables implementation of velocity loop filter independent of

the position loop.

Trajectory Pre-filter Setup

Used for (in general) to remove the adverse effects of low frequency resonances via removing this low frequency content from the reference command.

Allows implementation of single, double notch filters, 1st or 2nd order low pass filters etc. at sampling frequencies lower than that of the servo sampling frequency by a user defined factor.

Pre-Filter Structure

Example: Notch pre-filter @ 10 Hz

New Features

Gantry Cross-Coupled Control

Simplified Auto-tune/Current Loop Auto-tune

Adaptive Control

Interactive Filter Setup

More features in tune plots, smoothing data,

viewing acc.vel. , servo command, f.e., etc

Gantry Cross-Coupled Control

Gantry X-Coupled Control Block Diagram

Gantry Cross-Coupled Control

Does auto-tune move for both motors simultaneously

shows info. about gantry motors

Enables (kills) both motors

Calculates cross-coupled control gains if checked

Gantry Cross-Coupled Control (cont.)

Similarly, in interactive tuning user can (later) implement and or change cross-couple gantry gains

Gantry Cross-Coupled Control (cont.)

Simplified Auto-tune

Simplified Current Loop Auto-tune

Adaptive Control

Adaptive Servo Control Block Diagram

• Assumes a rigid body model with time varying inertia

• Online estimation of inertia changes i.e. plant gain

• Automatic compensation of servo loop gains for consistent closed loop bandwidth

Adaptive Control Setup Parameters

Nominal (Reference)

Gain

Estimation occurs if servo output is greater than

this value(Ensures the richness of

the excitation)

Sets estimationwindow size

Sets upper and lower boundfor estimated plant gain to ensure

stability of the closed loop system

Interactive Filter Setup

Allows changing the frequencies of the filter frequencies on the fly Updates filter frequencies in btw. repetitive moves