On Sat, 29 May 2010, cogoman wrote: > Date: Sat, 29 May 2010 09:48:34 -0400 > From: cogoman <cogo...@verizon.net> > Reply-To: "Enhanced Machine Controller (EMC)" > <emc-users@lists.sourceforge.net> > To: emc-users@lists.sourceforge.net > Subject: [Emc-users] reducing jitter at low speeds > > I read this article in Machine Design a while back and thought it was > very interesting. It was reprinted in their 2010 product locator, and I > thought y'all would appreciate it. I also thought that if there were no > patent issues, this might find it's way into EMC2. > > http://machinedesign.com/article/new-algorithm-thwarts-velocity-disturbances-in-motion-control-schemes-0721 > >
This looks to be exactly how tracking resolver interfaces work: a second order control loop where the input error (acceleration) is bounded to some settable value. (ideally applied_torque +- maximum disturb_torque if these are known) Probably pretty east to try with a simple double integrator HAL component (like PI loop) You can also look at this as a PLL that has the normal PLL feature of filtering out phase jitter while still tracking the input frequency. > > > ------------------------------------------------------------------------------ > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your (")_(") signature to help him gain world domination. ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
