PID position control : guide me

Dear member
I want to built a PID position control 
i read the DC position through potentiometer with -128 to 127 [full 360 degree]
so the input to the pid is voltage range between -128 to 127
the input of dc motor is PWM and the motor rotate direction
so the PID output will be PWM 
what about direction bit ??? What will be it circuit
also how to control the speed in same system ?? is thire another PID?? 
best regards
hi ?Q>
Solved!
Go to Solution.

nathand wrote:
mangood wrote:
what about control the position and the speed at same time ???
That's a complicated problem. A quick internet search turned up this paper which describes some possible approaches:
http://www.idt.mdh.se/kurser/ct3340/ht09/ADMINISTRATION/IRCSE09-submissions/ircse09_submission_22.pd...
okkkkkk
terrific paper
hi ?Q>

Similar Messages

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    Hello, I have a cRIO 9073 with a NI 9505 module that I'd like to use for simple position control of a unit along a lead screw.
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    Hello - there are many reasons why a closed loop controller can oscillate - from correct settings of controller (kp,ki,kd) to making sure signals act in the appropriate direction to deadband/friction in the actuator to badly sized signals/actuators.
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    Consultant Control Engineer
    www-isc-ltd.com

  • Stepper position control with myRIO

    Hello, 
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    Attachments:
    Stepper_PK244-02AA.pdf ‏764 KB
    PositionFunction.png ‏133 KB
    BigEasyDriver_A4988.pdf ‏383 KB

    Hi E,
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    If you want to control servo directly from LabVIEW, you need NI Daq card.
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    CLA 2014
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  • Position Control of compumotor linear servo table and GV-U6E with PCI-7344

    I'm referring PCI-7344 (not 7334).
    I have the GV-U6E which is a drive only and does not possess control functionality. the drive only version does not store or use programs. So, serial commands can not be sent through COM port by LabVIEW even though A few basic commands can be emulated.
    I am trying to do position control as I mentioned. For example, the motor should move A point to B point exactly with a certain speed. The points must be aboulte position.
    I would like you to see the reference comment that I have been contacting with in your website forum.
    http://exchange.ni.com/servlet/ProcessRequest?RHIVEID=101&RPAGEID=135&HOID=506500000008000000DD490000&USEARCHCONTEXT_CATEGORY_0=_14_&USEARCHCONTEXT_CATEGORY_S=0&UCATEGORY_0=_14_&UCATEGORY_S=0
    Regard,
    Jin Ho Lee
    ----- Original Message -----
    From:
    To:
    Sent: Thursday, September 26, 2002 5:00 PM
    Subject: Re: (Reference#1549-QYW196) "Position Control of linear servo table and GV-U6E with PCI-7344
    >
    > Note: Your reference number is included in the Subject field of this
    > message. It is very important that you do not remove or modify this
    > reference number, or your message may be returned to you.
    >
    >
    > JinHo. Compumotor is a very popular brand, and I know of several customers
    > who integrate our 7334 with Computmotor drives. However, when you say that
    > the MAX configuration doesn't fit in the compumotor drive settings, are you
    > referring to the specs from the 7344? It looks like the 7344 and the
    > Compumotor will work well together through a UMI break out box. If you're
    > referring to specific commands that the Compumotor receives, I'd have to
    > know more about the protocol. If the Compumotor needs serial commands,
    > then you can send them through the computer's COM port from LabVIEW.
    > Please let me know exactly what kind of configurations you're trying to
    > set. The 7344 can be completely configured in MAX and LabVIEW.
    >
    >
    > Best Regards
    >
    > Kyle Voosen
    > Applications Engineer
    > National Instruments
    > http://www.ni.com/support
    >
    > ------------------------------------------------------------------------------
    >
    > Problem Description :
    > "Position Control of compumotor 406LXR linear servo table and GV-U6E(motor
    > drive) with PCI-7344"
    >
    > "Since I had the answers referring:
    > http://exchange.ni.com/servlet/ ProcessRequest?RHIVEID=101&RPAGEID=135&
    > HOID=506500000008000000DD490000& USEARCHCONTEXT_CATEGORY_0=_14_&
    > USEARCHCONTEXT_CATEGORY_S=0& UCATEGORY_0=_14_&UCATEGORY_S=0
    >
    > Wiring step was done well. However, I still have a problem that MAX
    > configuration doesn't fit in compumotor drive settings. Therefore, the
    > setup is shown below, and I want to know how I can set up PCI-7344
    > configuration in MAX or LabVIEW VI.
    >
    >
    > -----------------------------------------------------
    >
    > Uploaded from device address 0
    >
    > Gemini GV Servo Drive Setup
    >
    >
    >
    > Motor Setup
    > DMTR 1703
    > Motor ID (406-x-LXR-M-x-D13-x-x-x-x-E5-x-x-x)
    > DMTIC 2.48
    > Continuous Current (Amps-RMS)
    > DMTICD 0.00
    > Continuous Current Derating (% derating at rated speed)
    > DMTKE 17.6
    > Motor Ke (Volts (0-to-peak)/krpm)
    > DMTRES 10.10
    > Motor Winding Resistance (Ohm)
    > DMTJ 119.300
    > Motor Rotor Inertia (kg*m*m*10e-6)
    > DPOLE 1
    > Number of Motor Pole Pairs
    > DMTW 40.5
    > Motor Rated Speed (rev/sec)
    > DMTIP 7.40
    > Peak Current (Amps-RMS)
    > DMTLMN 3.4
    > Minimum Motor Inductance (mH)
    > DMTLMX 3.4
    > Maximum Motor Inductance (mH)
    > DMTD 0.000000
    > Motor Damping (Nm/rad/sec)
    > DMTRWC 0.23
    > Motor Thermal Resistance (degrees Celsius/Watt)
    > DMTTCM 20.0
    > Motor Thermal Time Constant (minutes)
    > DMTTCW 0.33
    > Motor Winding Time Constant (minutes)
    > DMTAMB 40.00
    > Motor Ambient Temperature (degrees Celsius)
    > DMTMAX 90.00
    > Maximum Motor Winding Temperature (degrees Celsius)
    > DHALL 1
    > Disable Hall Sensor Checking
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    > Set Q Axis Inductance Saturation
    > DMTLDS 0
    > Set D Axis Inductance Saturation
    > DTHERM 0
    > Disable motor thermal switch input
    >
    >
    >
    > Drive Setup
    > DMODE 2
    > Drive Control Mode
    > DRES 8400
    > Drive Resolution (counts/rev)
    > DPWM 16
    > Drive PWM Frequency (kHz)
    > SFB 1
    > Encoder Feedback
    > ERES 8400
    > Encoder Resolution (counts/rev)
    > ORES 8400
    > Encoder Output Resolution (counts/rev)
    > DMEPIT 42.00
    > Electrical Pitch (mm)
    > SHALL 0
    > Invert Hall Sensors
    > DMTLIM 1.5
    > Torque Limit (Nm)
    > DMTSCL 1.5
    > Torque Scaling (Nm)
    > DMVLIM 119.000000
    > Velocity Limit (rev/sec)
    > DMVSCL 119.000000
    > Velocity Scaling (rev/sec)
    >
    >
    >
    > Load Setup
    > LJRAT 0.0
    > Load-to-Rotor Inertia Ratio
    > LDAMP 0.0000
    > Load Damping (Nm/rad/sec)
    >
    >
    >
    > Fault Setup
    > FLTSTP 1
    > Fault on Startup Indexer Pulses Enable
    > FLTDSB 1
    > Fault on Drive Disable Enable
    > SMPER 8400
    > Maximum Allowable Position Error (counts)
    > SMVER 0.000000
    > Maximum Allowable Velocity Error (rev/sec)
    > DIFOLD 0
    > Current Foldback Enable
    >
    >
    >
    > Digital Input Setup
    > INLVL 11000000
    > Input Active Level
    > INDEB 50
    > Input Debounce Time (milliseconds)
    > INUFD 0
    > Input User Fault Delay Time (milliseconds)
    > LH 0
    > Hardware EOT Limits Enable
    >
    >
    >
    > Digital Output Setup
    > OUTBD 0
    > Output Brake Delay Time (milliseconds)
    > OUTLVL 0100000
    > Output Active Level
    >
    >
    >
    > Analog Monitor Setup
    > DMONAV 0
    > Analog Monitor A Variable
    > DMONAS 100
    > Analog Monitor A Scaling (% of full scale output)
    > DMONBV 0
    > Analog Monitor B Variable
    > DMONBS 100
    > Analog Monitor B Scaling (% of full scale ouput)
    >
    >
    >
    > Servo Tuning
    > DIBW 1500
    > Current Loop Bandwidth (Hz)
    > DVBW 100
    > Velocity Loop Bandwidth (Hz)
    > DPBW 40.00
    > Position Loop Bandwidth (Hz)
    > SGPSIG 1.000
    > Velocity/Position Bandwidth Ratio
    > SGIRAT 1.000
    > Current Damping Ratio
    > SGVRAT 1.000
    > Velocity Damping Ratio
    > SGPRAT 1.000
    > Position Damping Ratio
    > DNOTAF 0
    > Notch Filter A Frequency (Hz)
    > DNOTAQ 1.0
    > Notch Filter A Quality Factor
    > DNOTAD 0.0000
    > Notch Filter A Depth
    > DNOTBF 0
    > Notch Filter B Frequency (Hz)
    > DNOTBQ 1.0
    > Notch Filter B Quality Factor
    > DNOTBD 0.0000
    > Notch Filter B Depth
    > DNOTLG 0
    > Notch Lag Filter Break Frequency (Hz)
    > DNOTLD 0
    > Notch Lead Filter Break Frequency (Hz)
    > SGINTE 1
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    > SGAF 0
    > Acceleration Feedforward Gain (%)
    > -----------------------------------------------------
    >
    >
    > Regards,
    > JinHo"
    > NI Software :
    > LabVIEW version 6.0
    > NI Hardware :
    > Motion Control device PCI-7344
    > Driver Version :
    > no
    > OS :
    > Windows 2000
    > CPU :
    > Pentium
    > RAM :
    > 128
    > Vendor :
    > DELL
    > Customer Information :
    > Jin Ho Lee
    > North Carolina State Univ.
    > US
    > [email protected]
    > Ph: (
    > 919
    > )
    > 512-9929
    >
    >

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