Hello,
In my company I work daily with digital servos and pc based motion controllers. Up till now it was common to tune our servos in time domain resulting in a lot of trial and error procedures and non-optimal tuned servos.
I want to shift more to frequency domain tuning, so we can learn more from our systems and know what bandwidths and phase margins we have.
I know how to implement this kind of tuning in a experimental setup with a frequency analyser that adds some noise into the loop between controller and plant and measure the open loop frequency response. But that was with an analog amplifier and the possibility to inject noise into the loop.
Who can help me with a setup based on a digital drive that reads an incremental encoder signal, the reference profile is in the drive (trapezoid) and the drive outputs three pwm signals to drive a brushless dc motor.
Where and how can I add noise? Where and how can I measure a signal in the loop, between controller and amplifier this is not possible? Is it possible to inject the noise on the incremental encoder signal, are there any tools for this purpose? Are there any spectrum analysers that can read an incremental encoder signal?
Does anybody know some interesting literature to learn more on frequency domain tuning with digital servos? Especially the practics?
Mark