Delta RMC151 - Manual (Page 68)

RMC70/150 and RMCTools User Manual
• Use the Output Filter, setting it to a low value, comparable to the natural
frequency of the system.
• Deadband may be required on systems with high static friction.
• The Velocity and Acceleration may need to be filtered, or using the model may
help.
2.3.11. Tuning Active Damping and Acceleration
Control
When tuning Active Damping or Acceleration Control, use the basic instructions in the Tuning a
Position Axis topic, but use the order of the gains below.
If you are tuning a pneumatic cylinder, see the Tuning a Pneumatic System topic.
Tuning Order
Systems with High Damping
For system with high damping, you can follow the procedure for Tuning a Position Axis,
then set the higher-order gains.
High damping means that the system does not oscillate and stops very quickly as soon as
0 volts is applied.
Systems with Low Damping
For system with low damping, you will need to set the higher-order gains earlier in the
tuning procedure to gain any control at all. The higher order gains will provide the
damping. When using high-order gains, increasing the highest order may allow you to
increase lower order gains. However, you need to first set the lower gains to some value
before you can set the higher ones. Then, you can go back and increase the lower order
gains.
Suggested Tuning Order:
a. Proportional Gain
b. Differential Gain
c. Double Differential Gain or Active Damping Proportional Gain
d. Triple Differential Gain or Active Damping Differential Gain
e. Double Differential Gain or Active Damping Proportional Gain
f. Differential Gain
g. Proportional Gain
h. Feed Forwards
i. Integral Gain
j. May need to repeat several times.
48 Delta Computer Systems, Inc.