----- Original Message ----- From: "John Kasunich" <[EMAIL PROTECTED]> <snip> > > You don't want in integrator. It won't stop when it reached the > desired > speed, it just keeps going.
I was thinking of having the input to the integrator being based on the error between the command rpm and the feedback rpm. Example M3 S800 given an aceleration rate of 500 rpm per second Time zero, Input to integrator equals 800rpm(command) - 0rpm(feedback) = 800, limited to 500rpm/sec. Time 1 second, Input to integrator equals 800rpm - 500rpm(spindle speed after 1 second) = 300rpm/sec into integrator. Time 2 seconds, Input to integrator equals 800rpm - 800rpm(spindle speed) = 0 input into integrator. S400 Deceletation limited to 300rpm/sec. Time 3 seconds, Input to integrator = 400rpm - 800rpm = -400rpm limited to -300rpm Time 4 seconds, Input to integrator = 400rpm - 500rpm = -100rpm... Time 5 seconds, Input to Integrator = 400rpm -400rpm = 0 output to integrator. This way the input to the integrator is limited to keep its command from acelerating or decelerationg. Perhaps limit2 could do this better? Thanks again! Roger Neal ------------------------------------------------------------------------- This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now >> http://get.splunk.com/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
