How to Tune Servo Systems: Force Control (Part 4)
Attendees are eligible for a certificate of completion.
Among the most troubling tasks in machine building can be tuning the servo system to meet or exceed the performance specification. Invariably, we have all sat at the machine and asked ourselves, “What three numbers should I put in this proportional-integrated-derivative (PID) controller?” However, when tuning, it is not always about the PID gains. Many other factors affect the tuning and can be changed to improve the machine performance. This webcast will discuss aspects of controller design, including control loop structures, and using frequency-based tools for gain selection, filter selection and machine characterization.
Presenter Joseph Profeta, who has nearly three decades of experience working on challenging automation solutions for a variety of industries, will explain the steps he takes to optimize the performance of motion systems.
Part four of this webcast series will focus on force control. The typical scenario is an axis moves to a position, in positioning mode, and then switches to force mode to control the force applied to an object. Two different control loop structures will be considered — one with a force loop around a position loop and the second will be a force loop around a current loop.
Joe will teach attendees how to tune the force loop tools to meet system specifications and create an arbitrary force trajectory.
- The limitations of a force loop around the position loop
- The limitations of a force loop around the current loop
- How to command arbitrary force trajectories
- How to minimize the bump when transferring between position and force mode.
Joseph Profeta, Ph.D., Director, Control Systems Group, Aerotech
Mark Hoske, Content Manager, CFE Media and Technology