XPS-Q8 Controller Motion Tutorial
14.3.3 Corrector = PIDDual FFVoltage
The PIDDualFFVoltage must be used in association with a driver having a voltage input
(constant voltage gives constant motor voltage), using MotorDriverInterface =
AnalogVoltage.
Can also be used in velocity or acceleration command.
Figure 57: Corrector = PIDDual FFVoltage.
14.3.3.1 Parameters
FeedForward method:
• 3 feed forwards are used: Speed, Acceleration and Friction.
• KFeedForwardAcceleration is a gain that can be applied to the feed forward in
acceleration.
• KFeedForwardVelocity is a gain that can be applied to the feed forward in velocity.
• Friction is a value which is applied with the sign of the velocity.
• When the system is used in open loop, the PID output is cut and only one feed
forward in velocity is applied with the gain defined by
KFeedForwardVelocityOpenLoop.
PID corrector:
• Output of the PID is a voltage.
Kp is given in V/unit.
Ki is given in V/unit/s.
Kd is given in V/s/unit.
Filtering and Limitation:
• ScalingVoltage is the theoretical motor voltage resulting from a 10 V input on the
driver (48 V).
• VoltageLimit (volts) is the maximum motor voltage allowed to be commanded to
the driver.
Refer to the XPS-Q8 Configuration Wizard Document for a detailed explanation.
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17) 182
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