MPI Servo Tuning Basics

Servo Tuning Basics

What is Tuning?
Servo Tuning Guidelines
What is a Servo? 
Servo Algorithms: PID / PIV
The PID Algorithm and DRate
About PID PIDOutputOffset Parameter 
Post Filter Theory 

Specification Tips
Acceptable vs. Unacceptable Oscillations
Choosing Specifications for a Machine

 

Things to Consider

Comparison Table
Should I use PID or PIV?
Relation of Motor Object Offsets 
    to Filter Object Offsets 
Comparing Different Move Times with
    Different Under Damped Peaks 
Tuning with Frequency Shaping
Tuning with Feedforwards
Converting PID Parameters to PIV Parameters

 

                                   Before

                                      After

 

Servo Tuning Techniques

PID
Overview
PID Parameter Definitions

How to Tune:
Step Behavior / Overshoot Criteria
Step Behavior / Stability Criteria
Under Damped / Over Damped
Scaling PID Tuning Parameters

PIV
Overview
PIV Parameter Definitions

How to Tune: 
Monitoring Velocity Loop Performance
Tuning the Velocity Loop with Kpv, Kiv, Kpp 
    - Smoothing the Actual Velocity (Kpv)
    - Applying the Velocity Loop Integral (Kiv)
    - Applying the Position Loop Gain (Kpp) 

Tuning the Velocity Loop with Kpv, Kpp, Kip
    - Smoothing the Actual Velocity (Kpv)
    - Applying the Position Loop Gain (Kpp)
    - Applying the Position Integral Gain (Kip)

Feedforward Tuning
Overview 

How to Tune:
Shape-based
    - Acceleration Pattern (Kaff)
    - Velocity Pattern (Kvff)
    - Offset (Friction) Pattern (Kfff)
    - Final Adjustments 
 Measurement-based 
    - Friction Feedforward
    - Acceleration Feedforward
    - Open Loop Feedforward

Frequency Shaping
Overview

How to Tune:
Frequency Shaping Tuning 
Understanding/Reading Bode Plots
Mechanical Resonance
   - Calculating Mechanical Resonance Frequencies
   - Tuning a System with Mechanical Resonance