J
Before we start...I am a novice in control theory...
I am developing code to control position of a motor driven by a VFD with encoder feedback. I have the ability in the controller I am using to command speed and direction only (no position), so I am trying to write a simple position loop.
I know it would be much easier using a servo which has built in position control, but I do not have that luxury...
I have successfully written a simple trajectory generator and am able to update the commanded position on every scan of the PLC.
I have a PID which compares commanded position to actual position and generates an error.
I have been looking for documentation on how to convert the error (in pulses) to an increase or decrease in speed (pulses/sec).
So in other words, how to I calculate the speed command based on position error? Is there a general rule of thumb for doing this?
Thank you,
Jared
I am developing code to control position of a motor driven by a VFD with encoder feedback. I have the ability in the controller I am using to command speed and direction only (no position), so I am trying to write a simple position loop.
I know it would be much easier using a servo which has built in position control, but I do not have that luxury...
I have successfully written a simple trajectory generator and am able to update the commanded position on every scan of the PLC.
I have a PID which compares commanded position to actual position and generates an error.
I have been looking for documentation on how to convert the error (in pulses) to an increase or decrease in speed (pulses/sec).
So in other words, how to I calculate the speed command based on position error? Is there a general rule of thumb for doing this?
Thank you,
Jared