Reliance 45C922 Voltage channel module

The closed-loop control system can be stabilized by a digital filter, which is preprogrammed in the DMC-18x2 controller. The filter parameters can be selected by the user for the best compensation. The following discussion presents an analytical design method. The Analytical Method The analytical design method is aimed at closing the loop at a crossover frequency, ωc, with a phase margin PM. The system parameters are assumed known. The design procedure is best illustrated by a design example. Consider a system with the following parameters: Kt Nm/A Torque constant J = 2.10-4 kg.m2 System moment of inertia

The DAC of the DMC-18x2 outputs

 +/-10V for a 14-bit command of +/-8192 counts. The design objective is to select the filter parameters in order to close a position loop with a crossover frequency of ωc = 500 rad/s and a phase margin of 45 degrees. The first step is to develop a mathematical model of the system, as discussed in the previous system.In a similar manner, other filters can be programmed. The procedure is simplified by the following table, which summarizes the relationship between the various filters.

Servo Control 

ACMD Amplifier Command: +/-10 Volts analog signal. Resolution 16-bit DAC or .0003 Volts. 3 mA maximum A+,A-,B+,B-,IDX+,IDX- Encoder TTL compatible, but can accept up to +/-12 Volts. Quadrature phase on CHA,CHB. Can accept single-ended (A+,B+ only) or differential (A+,A- ,B+,B-). Maximum A,B edge rate: 12 MHz. Minimum IDX pulse width: 80 nsec.

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