This document is intended to complement the Understanding Servo Tune developer zone document. It provides a simple method to quickly determine gains that are in a reasonable range. If the graph shows the parameter is: Too Low - Double the value of the parameter. Too High - Set the parameter to a number that is much higher than needed.
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A Simple Method for Servo Motor Tuning - National Instruments
This document is intended to complement the Understanding Servo Tune developer zone document. It provides a simple method to quickly determine gains that are in a reasonable range. If the graph shows the parameter is: Too Low - Double the value of the parameter. Too High - Set the parameter to a number that is much higher than needed.
This document is intended to complement the Understanding Servo Tune developer zone document. It provides a simple method to quickly determine gains that are in a reasonable range. If the graph shows the parameter is: Too Low - Double the value of the parameter. Too High - Set the parameter to a number that is much higher than needed.
A Simple Method for Servo Motor Tuning Primary Software: Primary Software Version: 7.6 Primary Software Fixed Version: N/A Secondary Software: N/A Hardware: Motion Control>>Controllers>>PCI-7350 Problem: I can't seem to get my servo motor tuned. Is there a simple method to find PID gains that will give me something close to my desired response? Solution: This document is intended to complement the Understanding Servo Tune Developer Zone document, which more thoroughly explores the concept of servo tuning. There is no single proper way to do manual servo tuning, but the method outlined below provides a simple method to quickly determine gains that are in a reasonable range to provide a good response from the system. Tuning Features of Measurement & Automation Explorer One way to tune an NI-Motion system is to open up the Step Response and Control Loop tabs as separate windows. To do this, follow these steps: 1. In Measurement & Automation Explorer (MAX), go to CalibrationServo Tune for your motion controller. 2. Click and hold the Step Response tab 3. Drag the mouse until the Step Response tab appears as a separate window 4. Click the push pin icon at the top right of the window to keep the Step Response window open. 5. Repeat these steps for the Control Loop tab. Arrange and resize the windows so that you can see them side by side as you tune your motor. Images of the windows are shown below for your reference. Hello Can (This is not me) The Method of Tuning Now that you have the windows arranged so that you can easily modify your control loop, and see the changes in the step response, take the following steps to tune your PID control system. 1. Set all three PID parameters, K p , K d , and K i to 0 2. Start by tuning K p . Set it to a number that is much lower than needed. If you are unsure, start with 1. 3. Click the Step Response button to view a step response graph of your system. Step response plots are described in further detail in the Understanding Servo Tune document mentioned earlier. 4. If the graph shows the parameter is: Too Low - Double the value of the parameter. Too High - Set the parameter to halfway between the current value and the previous value. 5. Repeat steps 3 and 4 until you achieve a reasonable value for K p. For most systems, this will mean that the response will approach the input, and oscillate continually about the input with a small amount of dampening. If the oscillation does not gradually decrease in amplitude as shown below, then the system is considered unstable. If this occurs, you may need to add a small amount of K d while you are repeating steps 3 and 4 to increase K p . 6. After you arrive at a reasonable value for K p , move on to K d. 7. Repeat steps 3 and 4 for K d until you achieve a reasonable value for K d . For most systems, this will mean that the response will no longer oscillate continually, but will quickly dampen to a steady state value. This steady state value may be slightly offset from the input value, and this offset can be corrected with an appropriate K i value. 8. After you arrive at a reasonable value for K d , move on to K i . 9. Repeat steps 3 and 4 for K d until you achieve a reasonable value for K i . This parameter works on the integral of the position error therefore taking out offset error. Please use this parameter conservatively as it can introduce instability into the system. A Tuning Example The table below provides an example of using this method to quickly tune a servo motor. This example took 20 iterations to arrive at a reasonably well tuned system. The gains used in each iteration are shown as well as the step response graph and characteristics. The screenshots from this tuning are also shown in the animated image of the Step Response window at the beginning of this document. Step K p K d K i Settling Time (ms) Rise Time (ms) Peak Time (ms) Max Overshoot (%) Step Response 1 1 0 0 315 96 165 40 2 2 0 0 363 57 114 67 3 4 0 0 567 39 81 89 4 8 0 0 594 27 60 91 5 8 1 0 594 27 60 88 6 8 2 0 594 30 63 88 7 8 4 0 594 27 60 88 8 8 8 0 588 30 63 84 9 8 16 0 501 27 60 78 10 8 32 0 366 30 60 68 11 8 64 0 255 30 60 53 12 8 128 0 162 33 60 29 13 8 256 0 105 45 75 3
Related Links: Developer Zone: Understanding Servo Tune KnowledgeBase 39DHP4QX: Unable to Tune a Servo Motor KnowledgeBase 1A1FUIYP. Torque and Velocity Mode Differences and NI-Motion Compatibility National Instruments Motion Control Support Homepage Attachments: Report Date: 14.06.2007 Last Updated: 05.03.2012 Document ID: 4AD9N5P9 Your Feedback! Poor | Excellent Yes No Document Quality? Answered Your Question? 1 2 3 4 5 Document needs work? Please tell us why. Please Contact NI f or all product and support inquiries.
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