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Unformatted text preview: the integral term can have a constant output
Problem: the integral term tends to slow down the
response and perhaps destabilize the system – why? Solution: use both proportional and velocity (derivative)
feedback control plus a offset voltage: +- ++
+ + The offset (feedforward) term to the motor
• The offset voltage is to generate the torque to balance the load
against the gravity Torque generated by Voff
for balancing the load For critical damping
• If we want critical damping – fast reaction with no-overshoot:
2 1 •
• / ) K1 and K2 will work together for a particular motor: R, B, and J
Note that • / + + When n is large, the load inertia and damping can be ignored...
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- Fall '13