cRIO - H bridge using the PWM output and input only encoder control

Hello

I am currently working on a project to control a 230V brushed servo motor using cRIO. The engine drives a linear step and the final project needs to create a control of position of the engine that the user is able to enter a speed, position and control steps to move to this position.

I use a bridge using NOR-9401 and H to power the motor circuit and a PWM output to move the engine. I also have an encoder, quadrature, connected to a NOR-9403 read position and speed. I use the example program of encoder for the NI 9505 - in my application.

There is no voltage or current on the drive circuit sensors so I wouldn't be able to have a closed loop current in this case. The scene release mechanism is such that the position is locked if the motor does not move and I do not need a torque control to keep the engine in place.

To achieve this, I just wouldn't be able to use a single PID VI (probably the FPGA VI express for discrete PID)?

I am not very well versed in the theory of control, and therefore no indication in the common sense would help me a lot.

Thank you very much!

Sexy,.

in general, it is best to use a cascade control loop structure but in principle must also be able to use the output of the control loop of position as an input to the PWM generator. The main disadvantage of this configuration is the current limitation missing. Without current meaning is no longer the only way to protect your engine from drawing too much current to limit to the current maximum output of your diet, or to limit the maximum duty cycle of PWM. Without current information, the last method is quite inaccurate, but better than nothing.

I agree with Mike, you should look in the examples of the 9505 module and use the controller position vi of these examples. This PID controller is optimized for motion control applications and it is implemented in the fixed point arithmetic, offering the best performance on and FPGA.

Kind regards

Jochen Klier

National Instruments

Tags: NI Hardware

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