Tuning CDHD
218 User Manual
Figur e 9 - 2 9 . Fr e quency response as a function of N LAN TI VI BSHARPn
for 2 0 Hz center fr e quency
St e p 2 – Tuning the Da m ping Ga in
I ncrease paramet er NLANTIVI BGAINn until optim al dam ping is achieved.
At each increm ent, record the current command (I CMD) and check the
oscillat ion dam ping.
Optimal dam ping of the system is obtained for the best damped current
oscillations.
N ote: When perform ing this st ep, the position error plot is not a good
indicator, as it may still be oscillating while the current, and thus the
load, are sm oothly sett ling down.
If, while increasing this param eter, a high frequency vibration appears,
slightly reduce the adaptive global gain ( KNLUSERGAI N).
Ant i- Vibra tion Tuning Exam ple
N ote: Plot s of som e variables are scaled (indicated by “x”).
Without the vibration suppression tuning, position error and current oscillate,
and settling time is very long.
Figur e 9 - 3 0 . W it h out vibr at ion suppre ssion, oscillat ion of position error
and current
To Next Page
Loading...
