Provide fast or detailed methods for plant and closed loop identification

Used In:

  • Motor identification and current closed loop verification
  • Mechanical identification and velocity/position closed loop verification

Description

Elmo provides numerous methods for plant identification and verification.

Identification:

  • Fast Method – Requiring only 200 ms, this method uses a multi-sine signal to map the entire frequency range with minimal movement.

Sine Sweep Method – A frequency-by-frequency method to retrieve more accurate information. This method can also display multiple plants, as show below.

      • Automatically uses the minimum sufficient current
      • Adaptively changes the current for resonance frequencies
      • An additional offset or carrier wave can be used when needed (ideal for low resolution A Quad B encoders)
      • Both open loop or closed loop (velocity or position) can be used
      • During velocity closed loop, the motor can be commanded to move with constant velocity (ideal for low resolution A Quad B, and for applications like propeller that can run only in one direction)

Current Verification:

  • Live Step or Sine Wave Method – Displays each motor phase, and provides the ability to change controller parameters and see the results in real time.

 

Static Step Method – Displays a step for all motor phases, as shown below.

  • Sine Sweep Method – Sweep by sinus and display for the closed loop.

Velocity/Position Verification:

    • Live Step or Sine Wave Method – Provides the ability to change controller parameters and see results in real time.
    • Sine Sweep Method – Sweep by sinus and display for the closed loop, with Bode plot.
    • Profile-Based Method – Perform verification according to the designated profile, as shown below.

Design Features

  • Enables creating and saving multiple identifications to develop a design that is suitable for all plants
  • Wizard interface, part of the Elmo Application Studio (EAS)