Introduction to Servo Control PID Tuning.ppt

Introduction to Servo Control PID Tuning Presented to: Agenda Introduction to Servo Control Theory PID Algorithm Overview Tuning General System Characterization Oscillation Characterization Feed-forward Terms Dual-loop Control Introduction to Servo Control Theory Positioning a Load Servo positioning systems are designed to precisely move a load along an axis of a coordinate system. Positioning with Servo Motors A servo motor can be used to move a load in conjunction with a lead screw. Position Feedback It is theoretically possible, but not practical, to calculate the required motor current Exact physical properties of system components must be identified and must not change Position feedback is used to provide the control system with motor shaft position Enables the control system to ensure that the load gets to the commanded position Servo Positioning with Feedback An optical encoder is used to provide the control system with position feedback PID Algorithm Overview Servo Control with PID PID is the most commonly used servo control algorithm Proportional Integral Derivative PID systems can be understood by way of analogous physical models Understanding the Proportional Term Proportional term is analogous to the spring constant in a damped harmonic oscillator system Error = Desired position - Actual position Understanding the Derivative Term Derivative term is analogous to a “pot of honey” in a damped harmonic oscillator system Limitations of “PD” Control “PD” systems are very effective for servo control, but they break down when friction in the system is high Understanding the Integral Term Integral term contributes to the output in proportion to the sum of the error over time Tuning General System Characterization What is Tuning? Tuning \ tün·ing verb : The art of adjusting PID gains to optimize the motion of your system. Tuning – First Step is Safety Before doing anything related to tuning your servo motors, you must be sure your system is in a safe