Power PMAC Tuning Tool Overview

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, 1 st or 2 nd 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 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 estimation window size Sets upper and lower bound for 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