On 13 December 2017 at 03:21, Ralph Stirling <ralph.stirl...@wallawalla.edu> wrote: > We have a project requiring four servo motors run synchronously, with > the ability to adjust the phase angle between motors. The motors will > be ramped up and down in velocity (remaining synchronized), but with > programmable phase offsets.
This sounds relatively easy. Whatever you do one motor is going to have to be the reference (zero shift) motor, so program that with a straightforward velocity PID. Then the other motors are phased relative to that, and their PID feedback needs to be difference between the zero-shift motor position and their own position, whilst their command is the required phase shift. It sounds like you need 4 PID components and three sum2 components (with negative gain on one input) -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
