D2 Drive User Guide v1.8 6. Drive Tuning
HIWIN Mikrosystem Corp. 182
6.7.2.2. Nyquist
The “Nyquist” option of “Loop constructor” can analyze and simulate frequency responses of
“Vel open loop” (velocity open loop) and “Pos open loop” (position open loop) of control
system. Using the check method can select to analyze and simulate the Nyquist diagram of
“Velocity open loop” or “Position open loop”. It can also select two loops to analyze and
simulate at the same time. The Nyquist plot of “Pos open loop” is shown in Fig. 6-52. Clicking
the curve on the Nyquist plot displays the value of frequency response for the analysis of
control system.
(1) Vel open loop: The frequency response of the velocity open loop of control system.
(2) Pos open loop: The frequency response of the position open loop of control system.
Fig. 6-52 Nyquist plot of position open loop
6.7.2.3. Bode
The “ph + gain” option of “Loop constructor” can analyze and simulate frequency responses of
“Vel controller”, “Vel open loop”, “Vel close loop”, “Pos controller”, “Pos open loop”, and “Pos
close loop” of control system. Using the check method can select to analyze and simulate the
Bode diagram of velocity loop or position loop. It can also select six loops to analyze and
simulate at the same time. Bode plots of “Vel close loop” and “Pos close loop” are shown in
Fig. 6-53. Clicking the curve on the Bode plot displays the value of frequency response for the
analysis of control system.
(1) Vel controller (Velocity controller): The frequency response of velocity controller.
(2) Vel open loop (Velocity open loop): The frequency response of the velocity open loop of
control system.
(3) Vel close loop (Velocity close loop): The frequency response of the velocity close loop of
control system.
(4) Pos controller (Position controller): The frequency response of position controller.
(5) Pos open loop (Position open loop): The frequency response of the position open loop of
control system.
(6) Pos close loop (Position close loop): The frequency response of the position close loop
of control system.
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