A3200 Dynamic Controls Toolbox


The Dynamic Controls Toolbox provides control algorithms that increase system performance such as settle time, accuracy, in-position stability and/or velocity stability. These include Harmonic Cancellation, Gain Scheduling, Command Shaping, and Cross-Axis Feedforward.

Harmonic Cancellation includes a set of controller-level algorithms that are designed to improve performance by reducing the tracking error due to sinusoidal reference commands, motor force ripple (or other position-dependent disturbances) and cross-axis disturbances such as those created in a linear axis by an unbalanced rotational axis.

Threshold Gain Scheduling is a controller-level algorithm that adjusts the servo-loop gains based on a specific input: current or velocity either commanded or feedback. Two threshold zones are available.

The Dynamic Gain Scheduling algorithm can improve position performance and reduce cycle times. The algorithm changes the PID gains based on the servo error vector. Command shaping strategically injects an impulse into the command motion profile to counteract system resonance. The technique is useful in dealing with mid-frequency resonances where adding a filter would significantly impact system phase margins.

Cross-Axis Feedforward improves disturbance rejection by injecting a compensating current profile into an axis which is sensitive to the motion of another axis. The coupled axis can react immediately to the motion induced disturbance rather than wait for the servo loop to detect and compensate.