Right. It seems I have got it, now. Feel a bit Kelly Bundy-ish right now, but I've finally realized my mistake. All the while, I've been treating the linear motors as if they were stepping motors with a large pole period (2.4", by the way). This also explains all that hysteresis stuff and the spungy/springy behavior and so on, which - indeed - is nonexistent if these motors are driven in the **correct** way. So, from what I've gathered, this is what I should do now:
1. Get forcer aligned to the stator field (using hall sensors) 2. Offset motor phases by 90 degrees and lock them to the forcer position 3. Have the velocity PID control the current through the windings to generate the desired force, while keeping the phase locked to the forcer position Fortunately, the amps have controlled current output, so that a given input voltage always corresponds to a given winding current. This should make things a lot easier, right? (Jon?) Now, did whoever discovered caffeine receive a Nobel prize? ;-) Marc. ------------------------------------------------------------------------- SF.Net email is sponsored by: The Future of Linux Business White Paper from Novell. From the desktop to the data center, Linux is going mainstream. Let it simplify your IT future. http://altfarm.mediaplex.com/ad/ck/8857-50307-18918-4 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
