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Servo Motor Control: Basic Computer Control of Motor Position and Velocity

The document discusses basic computer control of servo motor position and velocity. It describes using an encoder to measure motor position and a tachometer to measure motor speed. It also discusses using pulse-width modulation to control motor speed and position over time using a proportional–integral–derivative controller.

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rezakaihani
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51 views14 pages

Servo Motor Control: Basic Computer Control of Motor Position and Velocity

The document discusses basic computer control of servo motor position and velocity. It describes using an encoder to measure motor position and a tachometer to measure motor speed. It also discusses using pulse-width modulation to control motor speed and position over time using a proportional–integral–derivative controller.

Uploaded by

rezakaihani
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Servo Motor Control

Basic computer control of motor position and velocity

Watch the motor


[POWERUP] AC .5 accel .5 VE 1.5 velocity 1.5 Note: accelerates to velocity of 1.5, decelerates to stop LP DI 1.5 GO TD 1 DI -1.5 GO TD 2 EB EN loop distance 1.5 start move delay 1 distance -1.5 start move delay 2 end block end program

Position vs. time


Time ->

Velocity vs. time 1 Cos( t )


Time ->

How do you judge position?


Encoder

Direction?

Encoders are typically 5000 10000 pulse/revolution

How do you judge speed (velocity)?


Attach motor shaft to small generator Use the motor to generate electricity Faster = more Called a Tachometer

position
Time ->

servo motor control

1.0

1.25

1.5

1.75

0 360 is 1 ms

1.0

1.25

1.5

1.75

1.0

1.25

1.5

1.75

Same distance, half speed. PWM: pulse width modulation

stepper motor control

velocity
Time ->

dp/dt

position
Time ->

velocity
Time ->

+dp/dt

v
+-

position
Time ->

Tachometer Encoder

velocity
Time ->

+dp/dt

Bv + Gvv

position
Time ->

+-

Bp + Gpp
Tachometer

Encoder

time (t+1)

++

Bff + (Pt+1 + Vt+1)Gff

velocity
Time ->

+dp/dt

Bv + Gvv

position
Time ->

+-

Bp + Gpp
Tachometer

Encoder

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