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Galil Motion Control Manuals
Controller
DMC-14 5 Series
Manual
System Analysis - Galil Motion Control DMC-14 5 Series Manual
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Galil Motion Control
DMC-14 5 Series
Manual
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Contents
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System Analysis
To analyze the system, we start with a block diagram model of the system elements. The analysis
procedure is illustrated in terms of the following example.
Consider a position control system with the DMC-14XX controller and the following parameters:
K t = 0.1
J = 2.10 -4
R = 2
K a = 4
KP = 12.5
KD = 245
KI = 0
N = 500
T = 1
The transfer function of the system elements are:
Motor
M(s) = P/I = Kt/Js2 = 500/s 2 [rad/A]
Amp
K a = 4 [Amp/V]
DAC
K d = 0.0003 [V/count]
Encoder
K f = 4N/2π = 318 [count/rad]
ZOH
2000/(s+2000)
Digital Filter
KP = 12.5, KD = 245, T = 0.001
Therefore,
D(z) = 1030 (z-0.95)/Z
Accordingly, the coefficients of the continuous filter are:
P = 50
D = 0.98
The filter equation may be written in the continuous equivalent form:
G(s) = 50 + 0.98s = .098 (s+51)
The system elements are shown in Fig. 10.7.
DMC-14x5/6
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
Nm/A
kg.m 2
Ω
Amp/Volt
Counts/rev
ms
Torque constant
System moment of inertia
Motor resistance
Current amplifier gain
Digital filter gain
Digital filter zero
No integrator
Encoder line density
Sample period
Chapter 10 Theory of Operation
145
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This manual is also suitable for:
Dmc-14 6 series
Dmc-1415
Dmc-1416
Dmc-1425
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