Conversion gain proportional and derivative to significant stiffness and damping units PID

Hi all

I appreciate if someone could give some insight on how to convert the proportional gain (Kc) and secondary gain (Kc * Td/Ts) in meaningful units in terms of stiffness(Nm/rad) and damping (Nm/rad.s)

I do a position with PID (FPGA) .vi control... I only perform a check of the PD.

My process variable is the position of encoder in charges.

Thank you!

PS: To make things more confusing (for me), these gains are represented by a number fixed point in the express PID (FPGA) .vi and they are normalized too.

Hi Nathan,

Thanks for your reply. I gave her a reflection more and that's what I found.

My process variable is the location information of the encoder, which is the unit of account. My controller, multiplies the P position error, more the rate of change of position time D and it sends to the engine as a control voltage. It is:

output of the PD controller = control voltage of the motor amplifier = P * (Pos (setpoint) - Pos (process variable)) + D * d (Pos) /dt

So my P gain has the unit of volt/count. To convert this to N/m or (Nm/rad), I need to know what the relationship is between 1 volt for the engine and the torque generated (1 volt = 1 * K1 amp = 1 * 1 m end * K2 Nm). I also have calibration, namely the relationshio between 1 County of the encoder and displacement of end effector (1 count = K3 * rad)

Knowing these values K1, K2 and K3, I can convert my P gain to a setting of significant rigidity in terms of N/m or Nm/rad for the torsional stiffness. Similarly, the D can be converted into a unit of depreciation.

It's my understanding. If anyone has a comment on this approach, I am happy to hear it.

See you soon!

Tags: NI Hardware

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