I experimented with a sinusoidal inputs to see how the system responds.\u00a0 I started with a sinusoidal PWM, going full range in a\u00a02 second cycle.\u00a0 I discovered that the cart slowly traveled to the left while cycling.\u00a0 At the time, I assumed it was due to the cable carrier.<\/p>\n
My next test was using PID onboard the FPGA to control the current.\u00a0 I used a sinusoidal current setpoint.\u00a0 The cart cycled very nicely, but I discovered it traveled to the right while cycling and did it fairly quickly.\u00a0 After about 10 cycles, it traveled the entire length of the rack.<\/p>\n
To investigate further, I propped up the cart so it wouldn’t move while cycling.\u00a0 I discovered that the travel had nothing to do with the cable carrier and the motor behaved almost exactly the same when it wasn’t moving the cart.\u00a0 I figured out that the direction of travel is a significant variable that I will need to deal with.\u00a0 It may end up being a simple proportional thing, where I use a multiplication factor to make both directions equal.<\/p>\n
My plan is to collect a good amount of data while cycling the motor at different rates, then building a table that relates acceleration to speed and current.\u00a0 I haven’t figured out exactly how I am going to do it yet, but I am working on it.\u00a0 Once I have the table, I am hoping it will enlighten me on how to model the motor and cart.\u00a0 If all else fails, the table could be used as the model.<\/p>\n","protected":false},"excerpt":{"rendered":"
I experimented with a sinusoidal inputs to see how the system responds.\u00a0 I started with a sinusoidal PWM, going full range in a\u00a02 second cycle.\u00a0 I discovered that the cart slowly traveled to the left while cycling.\u00a0 At the time, I assumed it was due to the cable carrier. My next test was using PID […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[4],"tags":[],"class_list":["post-177","post","type-post","status-publish","format-standard","hentry","category-software"],"_links":{"self":[{"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/posts\/177","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/comments?post=177"}],"version-history":[{"count":2,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/posts\/177\/revisions"}],"predecessor-version":[{"id":179,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/posts\/177\/revisions\/179"}],"wp:attachment":[{"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/media?parent=177"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/categories?post=177"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/tags?post=177"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}