Control Technology. motion controller and power amplifier

Transcription

1 Control Technology motion controller and power amplifier Erik van Hilten Rik Prins National Instruments

2 Agenda Controller, the central element Tools for controller design in drive systems: - in PC-based motion controllers - in decentralized controllers - control design tools from National Instruments in distributed systems

3 The Controller, the Central Element Communication supervisor I/O application / software Sensor resolution measurement variable Configuration control parameter stability Controller motion controller servoamplifier Amplifier Motor sensor motor type power Power supply constant current max. power voltage Requirements construction motor drive / load temperature cycle speed controlled variable Transmission, Drive reduction mech. play

4 Selection Criteria for Controller The controller should: supply the correct manipulated variable with adequate accuracy in meaningful time be able to process information from the current position sensor understand commands from the supervisory system make the needed power available in conjunction with the amplifier support the selected motors (DC or EC)

5 Controller Types current regulator (with motor: torque controller) speed regulator positioning system

6 How is a Controller Setup? Kp Accelerates error correction Control can be unstable! Ki Continuous deviation is avoided! Control can be unstable Kd Higher system stability Does not eliminate continuous deviation

7 PID Parameters The PID controller describes how: the deviation is amplified to create a suitable motor reaction for the decrease of the deviation Servo Amplification Setpoint Position - e P Actual Value Position I D + - Power Feedback Motor Sensor

8 How can I Test my Parameters? Root Locus Curve Step Response Peak Time Rise Time Further Settling Time Nyquist Hurwitz Bode... Max. Overshoot [%] Axis 3

9 How Does it Function in Reality? Tools for Controller Design PC based (Plug-In) PCI, PXI Distributed CANopen Custom RTOS, FPGA Parameter setting via NI-Motion and configuration tool Measurement & Automation Explorer Parameter setting via EPOS Studio Parameter setting via Control Design Tools from National Instruments

10 Measurement & Automation Explorer Automatic Tuning Tuning Parameter Servo Tune Start Tuning

11 Measurement & Automation Controller Manual Tuning

12 Measurement & Automation Controller Advanced Tuning Bode plots Stability in the frequency range Advanced control loop parameters Velocity Feedback Gain (Kv) Velocity Feedforward (Vff) Acceleration Feedforward (Aff)

13 Demo Measurement & Automation Explorer

14 Tools for Controller Design PC based (Plug-In) PCI, PXI Distributed CANopen Custom RTOS, FPGA Parameter setting via NI-Motion and configuration tool Measurement & Automation Explorer Parameter setting via EPOS Studio Parameter setting via Control Design Tools from National Instruments

15 Setting of Current Control Position of Controller PI Parameter Servo Tune List Current Step Step Difference

16 Setting of Position Control Position of Controller Servo Tune List PID Parameters Position Step Step Difference

17 Demo EPOS Studio

18 Tools for Controller Design PC based (Plug-In) PCI, PXI Distributed CANopen Custom RTOS, FPGA Parameter setting via NI-Motion and configuration tool Measurement & Automation Explorer Parameter setting via EPOS Studio Parameter setting via Control Design Tools from National Instruments

19 LabVIEW Control Design Tools LabVIEW Development Environment LabVIEW System Identification Toolkit Stimulation Response DAQ System ID LabVIEW Control Design Toolkit LabVIEW Simulation Modules Setpoint Control Design Controller Model Plant Model

20 LabVIEW Real-Time LabVIEW Development Environment LabVIEW System Identification Toolkit Stimulation Response DAQ System ID LabVIEW Control Design Toolkit LabVIEW Simulation Modules Setpoint Control Design Controller Model DAQ

21 Example Controller design for a DC servo motor Step 1: system modeling and analysis Step 2: controller design Step 3: simulation Step 4: implementation of the controller

22 Step 1: System Modeling and Analysis Setpoint e Controller System H(s)?

23 Identification Assembly of a DC Motor System Output: motor (24V, PWM) Input: quadrature encoder (5V, digital) 2000 counts per revolution DO Motor Command DI Quad Encoder crio hardware

24 Identification of the System Model Stimulation and measurement of the response of the system Identification of system coefficients LabVIEW Dev Sys LabVIEW System ID Toolkit System ID Toolkit Signals System ID Algorithms DC Motor Model Stimulation crio- Hardware DO DI Motor Command Quad Encoder Response

25 System Identification Toolkit Created automatically Controlled system model Based on real signals System H(s)

26 Step 2: Control Design Setpoint e Controller System H(s)? H(s)

27 Design and Analysis of the Controller LabVIEW Dev Sys LabVIEW System ID Toolkit LabVIEW Control Design Toolkit LabVIEW Control Design Toolkit Controller Model DC Motor Model Closed-Loop System

28 LabVIEW Control Design Toolkit Development of control systems with interactive graphical tools such as root locus curves Design of controlled system, control models in space-time, transfer function and pole zero form Integration of control models with the LabVIEW Simulation Modules Analysis of system performance with tools such as zero-pole, step-response and Bode diagrams

29 Step 3: Simulation Setpoint Various e Controller System Operating Points H(s) H(s) Fault

30 Simulation and Analysis the Entire Track LabVIEW Dev Sys LabVIEW System ID Toolkit LabVIEW Control Design Toolkit LabVIEW Simulation Modules Setpoint LabVIEW Simulation Modules Controller Model Motor Model

31 "LabVIEW Simulation Modules" and "Simulation Interface Toolkit" Simulation of dynamic systems and real-time implementation in LabVIEW

32 Step 4: Implementation Setpoint Various e Controller System Operating Points H(s) H(s)

33 Simulation and Analysis the Entire Track LabVIEW Dev Sys [RT] LabVIEW System ID Toolkit LabVIEW Control Design Toolkit LabVIEW Simulation Modules LabVIEW Simulation Module & FPGA Setpoint Controller Model DAQ Output DAQ Input

34 Implementation of the Controller in Real-Time Hardware RT & FPGA Download to HW Implementation of the controller with the calculated parameters Execution of the code on real-time hardware

35 Real-Time Software LabVIEW Real-Time Module Graphical development of real-time applications Deterministic design Use on embedded hardware targets LabVIEW FPGA Module Graphical programming of FPGAs on "RIO" User-specific customization of I/Os Implement user-specific time lapses with a resolution of 25 ns

36 Demo Controller design for a DC servo motor Step 1: system modeling and analysis Step 2: controller design Step 3: simulation Step 4: implementation of the controller