@sbk143 wrote:
Hi Mark,
So, I was able to run my driver in constant current mode (had to setup DIP switches and pots) and can now drive the motor with constant torque. The issue I am having is in the tuning of the control loop. Do you have a sample labview code? I just want to see how you are implementing the loop and the tuning parameters.
Also, do you use a torque sensor? The one I am using doesn't have a stain relief and is measuring the torque produced by its own cable. Do you know of any wireless contact less torque sensors?
Thanks in advance.
The software we use with our dyno is commercial software for which we do not have the source code, so I really can't say what it does internally. The basic procedure we use to tune the PID loop is as follows:
1. Set the proportional, integral, and differential gains to 0.
2. Set the feed-forward constant based on the actual torque vs. current characteristics of the motor (based on the torque constant, or actual measured data).
3. Increase the proportional and integral gains to achieve acceptable steady-state error and response time without introducing instability. "Acceptable", of course, depends on the application.
As far as the torque sensor, no, I'm not aware of any wireless torque sensors. We use a shaft-to-shaft torque sensor (Futek TRS600), so the cable is supported by the body of the torque sensor.
Mark Moss
Electrical Validation Engineer
GHSP
