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ComparingDifferentMoveTimeswith
DifferentUnderDampedPeaks
Totalmotiontime=movetime+settlingtime
Whatismovetime?
Thetimeittakestoinitiallygettothetargetposition(forthefirsttime),notnecessarilysettled.
Whatissettlingtime?
Thetimebetweenwhenthetargetpositionisreachedforthefirsttimeandwhenithassettled
onthetargetposition(noringing).
Whatistotalmotiontime?
Thetotaltimethatittakesfromthemomentthemotionstartsuntilamotiondoneeventis
received(movetime+settlingtime).
Intheexamplesbelow,wewilldemonstratethefollowingkeypoints:
Largerunderdampedpeaksofasystemresultinlargerringingcycles.
Ringingiscausedbymovesthatareshorterthantheclosedloopbandwidthandno
accelerationfeedforward(Kaff).
Sometimesalongermovetimeisbetterthanashortermovetime,becauseitismore
stable(lessringing)andhasnoovershoot.
Forpointtopointmoves,totalmotiontimeshouldbethemainconcern,notmove
time.Alongermovetimewithlessringingcyclesmightbeabetterchoicethana
shortermovetimewithlongerringingcycles.
BouncingSpringAnalogy
Tohelpusbetterunderstandthetopicofsettling,wewilluseananalogyofaspringina
mechanicalsystem.Let'ssaythereisaspringhangingfromtheceiling.Ifaweightedboxis
attachedtotheendofthespringforcingittostretch,
isthechangeinpositionfromthe
spring'sequilibriumstate(noweightattached).
BouncingSpringAnalogy
SampleSystem
Springconstant(k)
Kpproportionalgain
Changeinposition(X)
PositionError
Acceleration(a)
Acceleration(a)
Astheaccelerationincreases,positionerrorincreases(viceversa).IncreasingKpwould
decreasepositionerror,butKpcanonlybeincreasedaslongasthesystemisnot
overshootingoroscillating.WhenKpisatitsmaximum,anotherwaytoreducepositionerror
istoaddtheacclerationfeedforwardterm(Kaff)tothecontrolloop.
SampleSystem
ThesystemthatwewillbetestingconsistsofanXMPSynqNetcontroller,anRMB10V2and
aTrustAutomationTA9000teststand.
Theexamplesbelowwilldemonstratetwomainpoints:
Alargerunderdampedpeakofasystemresultsinlongerandmoreringingcycles,
whichisanindicationofsysteminstability.
Sometimesalongermovetimeisbetterthanashortermovetime,becauseitis
morestable(i.e.lessringing)andmaysettleatthetargetpositionsoonerthana
shortermovetime.
Example1:8dBUnderDampedPeakSystem
Let'sassumethatwehavealreadytunedthesystemandthatthereisan8dBunderdamped
peakat~23Hz.Therefore,wewouldexpectthesystemtohaveanunderdampedmotion
profileatthe~23Hzfrequency.Todeterminearoughestimateofwhenthetargetpositionwill
bereachedforthefirsttime,wewillusethefollowingcalculation:
1/locationofunderdampedpeak=1/23Hz=~45ms
Therefore,wewouldexpectittoreachthetargetpositionat~45ms.
TrustAutomationTA9000
8dBUnderDampedPeakSystem
Kp=408
Ki=0
Kd=1000
RedClosedLoopResponse
BlueOpenLoopResponse
However,whenweperformamotionprofileontheactualsystematthe~23Hzfrequency,it
reachesthetargetpositionat~60ms,notattheexpected~45ms.Seegraphbelow.
TrustAutomationTA9000
8dBUnderDampedPeakSystem
50countmove
1.25e+005velocity,acceleration,deceleration
Noticethatthemove(initially)reachedthetargetpositionat60msandhad370msofsettling
time.Itfinallysettledatthetargetpositionat425ms.
Theringingcyclesindicatethatthemoveislessstable.Ringingiscausedbymovesthatare
shorterthantheclosedloopbandwidththatdonothaveanaccelerationfeedforwardterm
(Kaff).
Nowlet'sseeahowlongittakestoreachthetargetpositionwhenamuchlongermovetime
isused.Seegraphbelow.
TrustAutomationTA9000
8dBUnderDampedPeakSystem
50countmove
7.8e+003velocity,acceleration,deceleration
Noticethattherewas0msofsettlingtimeandthatitfinallysettledatthetargetpositionat
300ms.
Intheprofileabove,themovetimewasincreased5x(60msto300ms).Asaresult,itwas
actuallysettledatthetargetpositioninlesstimethantheprofilewiththeshortermovetime.
SettledatTargetPosition
MoveType
Time
ShortMoveTime
425ms
LongMoveTime
300ms
Therefore,itisimportanttonotethatifthemainobjectiveittobesettledatthetargetposition
assoonaspossible,alongermovetimemightbethebestchoice.But,iftheobjectiveisto
gettothetargetpositionassoonaspossible(regardlessofwhetherit'ssettled)then
obviouslyusingashortermovetimeisthebestchoice.
Example2:4dBUnderDampedPeakSystem
Inthenextexample,thesystemistunedwitha4dBunderdamplepeakat~18Hz.
Therefore,wewouldexpectthesystemtohaveanunderdampedmotionprofileatthe~18Hz
frequency.Todeterminearoughestimateofwhenthetargetpositionwillbereachedforthe
firsttime,wewillusethefollowingcalculation:
1/locationofunderdampedpeak=1/18Hz=~56ms
Therefore,wewouldexpectittoreachthetargetpositionat~56ms.
TrustAutomationTA9000
4dBUnderDampedPeakSystem
Kp=245
Ki=0
Kd=1000
RedClosedLoopResponse
BlueOpenLoopResponse
Let'sseethemoveprofileat~18Hz.
Althoughthemovereachesthetargetpositionafter~90ms,ittakesanother~190mstosettle.
TrustAutomationTA9000
4dBUnderDampedPeakSystem
50countmove
8.9e+004velocity,acceleration,deceleration
Noticethatthemovereachedthetargetpositionat90msandhad190msofsettlingtime.It
finallysettledatthetargetpositionat260ms.
Nowlet'sseeahowlongittakestoreachthetargetpositionwhenamuchlongermovetime
isused.Seegraphbelow.
TrustAutomationTA9000
4dBUnderDampedPeakSystem
50countmove
1.5e+004velocity,acceleration,deceleration
Noticethatthereare0msofsettlingtimeandthatitfinallysettlesatthetargetpositionat
200ms.
Intheprofileabove,themovetimewasincreased2.5x(80msto200ms).Asaresult,itwas
actuallysettledatthetargetpositioninlesstimethantheprofilewiththeshortermovetime.
SettledatTargetPosition
MoveType
Time
ShortMoveTime
260ms
LongMoveTime
200ms
Onceagain,itisimportanttonotethatifthemainobjectiveittobesettledatthetarget
positionassoonaspossible,alongermovetimemightbethebestchoice.But,ifthe
objectiveistogettothetargetpositionassoonaspossible(regardlessofwhetherit'ssettled)
thenobviouslyusingashortermovetimeisthebestchoice.Alsonoticethatthereisless
ringinginthe4dBunderdampedpeaksystemthanthe8dBunderdampedpeaksystem
because,smallerunderdampedpeakswillresultinlessringingnearorabovetheunder
dampedpeakfrequency.
Example3:0dBUnderDampedPeakSystem
Inthenextexample,thesystemistunedwitha0dBunderdampedpeakat~20Hz.
Therefore,wewouldexpectthesystemtohaveanunderdampedmotionprofileatthe~20Hz
frequency.Todeterminearoughestimateofwhenthetargetpositionwillbereachedforthe
firsttime,wewillusethefollowingconversion:
1/locationofunderdampedpeak=1/20Hz=~50ms
Therefore,wewouldexpectittoreachthetargetpositionat~50ms.
TrustAutomationTA9000
0dBUnderDampedPeakSystem
Kp=200
Ki=0
Kd=2000
RedClosedLoopResponse
BlueOpenLoopResponse
Let'sseethemoveprofileat~50Hz.
Althoughthemovereachesthetargetpositionafter~60ms,ittakesanother~190mstosettle.
TrustAutomationTA9000
0dBUnderDampedPeakSystem
50countmove
8.9e+004velocity,acceleration,deceleration
Noticethatthemovereachesthetargetpositionat60msandhas190msofsettlingtime.It
finallysettlesatthetargetpositionat250ms.
Nowlet'sseeahowlongittakestoreachthetargetpositionwhenamuchlongermovetime
isused.Seegraphbelow.
TrustAutomationTA9000
4dBUnderDampedPeakSystem
50countmove
1.5e+004velocity,acceleration,deceleration
Noticethatthereare0msofsettlingtimeandthatitfinallysettlesatthetargetpositionat
200ms.
Intheprofileabove,themovetimewasincreasedfrom60msto200ms.Asaresult,itwas
actuallysettledatthetargetpositioninlesstimethantheprofilewiththeshortermovetime.
SettledatTargetPosition
MoveType
Time
ShortMoveTime
250ms
LongMoveTime
200ms
Onceagain,itisimportanttonotethatifthemainobjectiveittobesettledatthetarget
positionassoonaspossible,alongermovetimemightbethebestchoice.But,ifthe
objectiveistogettothetargetpositionassoonaspossible(regardlessofwhetherit'ssettled)
thenobviouslyusingashortermovetimeisthebestchoice.Alsonoticethatthereisless
ringinginthe0dBunderdampedpeaksystemthanthe4dBunderdampedpeaksystem
because,smallerunderdampedpeakswillresultinlessringingnearorabovetheunder
dampedpeakfrequency.
Example4:AdditionofAcclerationFeedForward(Kaff)
Whilemostsystemswithresonancecanstillhaveringingwithlongermovetimes,addinga
AccelerationFeedForwardterm(Kaff)tomostsystemsshoulddefinitelyreduceringing.
Whileservogainvaluesmightcauseinstability,addingKaffdoesnotcauseinstability
becauseitworksoutsideofthecontrolloop.UsingKaffcangreatlyimprovethedynamicsof
aservosystem.
LetslookatanothersystemwithresonanceandseewhataffectaddingKaffwillhaveonthe
motionprofile.
Toemphasizetheeffectthatanaccelerationfeedforwardtermhasonreducingringing
cycles,wewillusethesamelongermoveprofileasExample1.Anincreasedvelocity
(7.8e+003velocity)willbeusedtomaketheringingcyclesmoreprocounced.
Themoveprofileyieldsa16dBunderdampedpeakat~6Hz.
TrustAutomationTA9000
16dBUnderDampedPeakSystem
Kp=408
Ki=0
Kd=1000
RedClosedLoopResponse
BlueOpenLoopResponse
ThemoveprofilewhennoKaffisusedhasmanyringingcyclesandasettlingtimeof
1750ms.
TrustAutomationTA9000
16dBUnderDampedPeakSystem
50countmove
7.8e+003velocity,acceleration,deceleration
However,whenKaffisused(seegraphbelow),theringingandsettlingtimehasbeengreatly
reduced.
TrustAutomationTA9000
16dBUnderDampedPeakSystem
50countmove
7.8e+003velocity,acceleration,deceleration
Asyoucansee,theadditionofanaccelerationfeedforwardterm(Kaff)canresultinamore
stablesystemwithreducedringingcyclesandsettlingtime.
SummaryofKeyPoints
Largerunderdampedpeaksofasystemresultinlargerringingcycles.
Ringingiscausedbymovesthatareshorterthantheclosedloopbandwidthandno
accelerationfeedforward(Kaff).
Sometimesalongermovetimeisbetterthanashortermovetime,becauseitismore
stable(lessringing)andnoovershoot.
Forpointtopointmoves,totalmotiontimeshouldbethemainconcern,notmove
time.Alongermovetimewithlessringingcyclesmightbeabetterchoicethana
shortermovetimewithlongerringingcycles.
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