velocity at 20msec intervals with a wel tuned analog drive (torque loop inside a speed loop) to do a real proper job you would adapt the torque (current!) loop to the inductance of the motor, and the P and the I of the velocity loop to the machine at hand. There was some autotune magic in the position loop in the computer that I have never seen again, but boy did it work well on a properly adjusted mechanical system.
and yes I am aware of that. j. On Fri, May 18, 2012 at 12:15 PM, andy pugh <bodge...@gmail.com> wrote: > On 18 May 2012 09:05, Jan de Kruyf <jan.de.kr...@gmail.com> wrote: > > > when I started working in the CNC field we had 20msec loops and they > > worked(cutting steel) from pure fanciness we would upgrade to 10msec > > Was that a 20mS torque loop, or a 20mS velocity command loop? > I would imagine what you are describing there was a system with a > servo drive with a bandwidth of several kHz (probably analogue) being > given velocity commands at 20mS intervals. > It is not at all unusual in a LinuxCNC setup to be controlling the > motor current and commutation in the software domain. > > -- > atp > If you can't fix it, you don't own it. > http://www.ifixit.com/Manifesto > > > ------------------------------------------------------------------------------ > Live Security Virtual Conference > Exclusive live event will cover all the ways today's security and > threat landscape has changed and how IT managers can respond. Discussions > will include endpoint security, mobile security and the latest in malware > threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ > _______________________________________________ > Emc-developers mailing list > Emc-developers@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-developers > ------------------------------------------------------------------------------ Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
