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XPS-Q8 Controller
17.0
Pre-Corrector Excitation Signal
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
17.1
Description
The XPS firmware integrates functions to measure the response of the system by
injecting different excitation signals inside the control loop.
To extend the capabilities to use alternate ways measuring a system transfer function the
injection of an excitation sine wave signal will be made available outside the control
loop.
To benefit from the efficiency of the control loop using the feed-forward gains, the
position, the velocity, the acceleration and the jerk will be injected in the control loop.
This new feature, coupled with the gathering capabilities of the controller will allow to
inject the sine position excitation and concurrently gather the commanded position and
the feed-back positions.
These gathered information can be stored in the controller and retrieved for further
analysis.
The architecture of the implementation is the following:
SineExcitationJerk
CorrectedSetpointJerk
SineExcitationAcceleration
CorrectedSetpointAcceleration
SineExcitationVelocity
CorrectedSetpointVelocity
SineExcitationPosition
This feature is allowed with "PIDFFAcceleration", "PIDFFVelocity" and
"PIDDualFFVoltage" control loops.
This makes it available for stages controlled with acceleration for drivers integrating a
current loop (such as for brushless, linear motors or D.C. motors), velocity for drivers
integrating a velocity control loop (such as for D.C. motors with a tachometer) or with
voltage for power amplifiers without any embedded control loop.
Refer to the XPS user's Manuals for more details on the different control loops.
The new SineExcitation are calculated every servo cycle based on the input parameters.
Depending on the setting of the controller the servo cycle is up to 8 kHz.
17.2
Pre-corrector excitation signal wave forms
The exact forms of pre-corrector excitation signal of position, velocity, acceleration and
jerk are the followings:
ω = 2πF
ExcitationPosition = A*cos(ωt) – A
ExcitationVelocity = (-Aω)*sin(ωt)
ExcitationAcceleration = (-Aω²)*cos(ωt)
ExcitationJerk = (Aω
(F: excitation frequency)
(A: excitation amplitude, t: current time)
3
)*sin(ωt)
192
Motion Tutorial
Control Loop
CorrectorOutput
(PID Corrector)
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