Among the most troubling tasks in machine building can be tuning the servo system to meet or exceed the performance specification. Invariably, we have all sat at the machine and asked ourselves, “What three numbers should I put in this proportional-integrated-derivative (PID) controller?” However, when tuning, it is not always about the PID gains. Many other factors affect the tuning and can be changed to improve the machine performance. This webinar will discuss aspects of controller design, including control loop structures, and using frequency-based tools for gain selection, filter selection and machine characterization. This will be presented in four parts.
Part four will focus on the force control. The typical scenario is an axis moves to a position, in positioning mode, and then switches to Force mode to control the force applied to an object. Two different control loop structures will be considered, one with a force loop around a position loop and the second a force loop around a current loop.
LIST 5 KEY POINT DELEGATES WILL LEARN:
• Understand the limitations of force loop around the position loop
• Understand the limitations of force loop around the current loop
• Understand how to command arbitrary force trajectories
• Understand how to minimize the bump when transferring between position and force mode.
