User guide

94 運動控制功能原理介紹
頻率響應架構圖
訊號說明表
頻率響應形式表
4.2.5.2 使用流程
以下將說明使用流程和注意事項，部分設定須參考波德圖相關參數
表 :
Name Symbol Unit Description
Sine wave R pulse The input of closed-loop system.
Error position E pulse The input of open-loop system.
Controller output U pulse The input of plant.
Encoder Y pulse The output of closed-loop system, open-loop
system, and plant.
Type Transfer function T Description
Plant T = Y/U It includes servo motor system
Open-loop T = Y/E It includes PID controller and servo motor
system (Assume feed-forward controller is
disable and bypass Biquad filters)
Closed-loop T = Y/R Total system
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在計算系統頻率響應前必須以手動調整 (Manual tuning) 或自動
調整 (Auto tuning) 方式設定控制器，原因在於我們是以全閉迴
路方式估算頻率響應，若設定不正確可能造成伺服馬達暴衝現
象。
preliminary