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Hi all,
I have a simple question. I have an off the shelf DC motor controller, and a plant (motor and load). The position feedback is via rotaty quadrature encoder on the motor.
Assuming the motor and PI loop gains are well matched, my goal is to come up with stable gains for the position controller based on the transfer function of the plant, which in my case is the mechanical load plus the motor.
My plan is to apply a step response to the system (PID in manual mode sending constant current set point to the PI controller), and measuring the velocity step response. Then I will use the Recursive Least Square method (RLS) with Matlab to estimate the third order transfer function coefficients.
My question is: how to use the newly identified transfer function of the plant to simulate system behavior with the off the shelf PID controller that I have? How would someone typically interface the two (plant TF and PID motor controller)? Or do I have to model the PID controller as well?
Thanks in advance for any insight
I have a simple question. I have an off the shelf DC motor controller, and a plant (motor and load). The position feedback is via rotaty quadrature encoder on the motor.
Assuming the motor and PI loop gains are well matched, my goal is to come up with stable gains for the position controller based on the transfer function of the plant, which in my case is the mechanical load plus the motor.
My plan is to apply a step response to the system (PID in manual mode sending constant current set point to the PI controller), and measuring the velocity step response. Then I will use the Recursive Least Square method (RLS) with Matlab to estimate the third order transfer function coefficients.
My question is: how to use the newly identified transfer function of the plant to simulate system behavior with the off the shelf PID controller that I have? How would someone typically interface the two (plant TF and PID motor controller)? Or do I have to model the PID controller as well?
Thanks in advance for any insight