Gene, I'm not sure if a Kalman filter woud benefit your setup, but properly adjusted surely it can. If you are interested on such a setup I can try to work out a model that gives you a Kalman filtered output. And from it developing a comp module should be trivial.
It can be interesting for my own research purposes, so I can devote some time to it. Contact me back personally if you are interested,... Javier On Sun, Dec 9, 2012 at 2:55 AM, Gene Heskett <[email protected]> wrote: > Greetings; > > It has occurred to me that much of my stiffness control problems in the > spindle servo come from a fixed clocking of the lowpass filter I am trying > to use to smooth the feedback from the encoder with. > > This I think, stems from the servo-thread clocking being at a steady pace. > > But I keep thinking in terms of using a gain of .25 in order to blend the > passing of 4 edges of the quadrature input and average out the mechanical > wibbles that get us about a 2% tolerance in the actual square waves out of > each opto unit. > > Would it be possible to be able to clock the lowpass, not with the servo- > thread, but with the passing of an edge detection event in the encoder > module? > > Or is there another module we already have that would be amenable to such a > lashup in the .hal file? > > Cheers, Gene > -- > "There are four boxes to be used in defense of liberty: > soap, ballot, jury, and ammo. Please use in that order." > -Ed Howdershelt (Author) > My web page: <http://coyoteden.dyndns-free.com:85/gene> is up! > > Ok, I see you know what you're doing :-) > > Either that or I've gotten pretty good at faking it. > I was taught to respect my elders, but its getting > harder and harder to find any... > > > ------------------------------------------------------------------------------ > LogMeIn Rescue: Anywhere, Anytime Remote support for IT. Free Trial > Remotely access PCs and mobile devices and provide instant support > Improve your efficiency, and focus on delivering more value-add services > Discover what IT Professionals Know. Rescue delivers > http://p.sf.net/sfu/logmein_12329d2d > _______________________________________________ > Emc-developers mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-developers > ------------------------------------------------------------------------------ LogMeIn Rescue: Anywhere, Anytime Remote support for IT. Free Trial Remotely access PCs and mobile devices and provide instant support Improve your efficiency, and focus on delivering more value-add services Discover what IT Professionals Know. Rescue delivers http://p.sf.net/sfu/logmein_12329d2d _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
