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getting_started:tutorials:oneaxis

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getting_started:tutorials:oneaxis [2019/10/08 14:45] – [Part 1: Theoretical Background] grafgetting_started:tutorials:oneaxis [2019/10/08 14:46] – [Theoretical Background] graf
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 =====Theoretical Background===== =====Theoretical Background=====
  
-The motors position is measured by an encoder. After differentiating this signal we obtain the velocity.+A motor position is measured by an encoder. After differentiating this signal we obtain the velocity. The input of the velocity controller is the difference between reference and measured velocity. Additionally, the feed forward velocity is added. The output of this controller is an acceleration. This value is then multiplied by the inertia and divided by the motor constant, in order to obtain a current reference value to control the motor.
  
 [{{ oneAxis_controlLoop.jpg?688 | //Control loop//}}] [{{ oneAxis_controlLoop.jpg?688 | //Control loop//}}]
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 D is the damping factor and we choose it as 0.9. D is the damping factor and we choose it as 0.9.
  
-The input of the velocity controller is the difference between reference and measured velocity. Additionally, the feed forward velocity is added. The output of this controller is an acceleration. This value is then multiplied by the inertia and divided by the motor constant, in order to obtain a current reference value to control the motor.+
  
 =====Part 2: Experimental Setup===== =====Part 2: Experimental Setup=====
getting_started/tutorials/oneaxis.txt · Last modified: 2023/04/13 11:29 by ursgraf