Comments on: Granity 1.0.1

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By: Tero

Tero — Mon, 09 Sep 2013 17:40:19 +0000

Indeed! That is definitely something we also want. I have prototyped torque control tuning and it works quite nicely already. However, sometimes it misses the good gain values which should be somehow eliminated as it could only make things worse.

By: Johann

Johann — Mon, 09 Sep 2013 07:31:40 +0000

Night brings counsel!
I understood that we seek for torque control
It is not a physical value on the motor shaft but better stability no matter the value of Nm on the motor shaft

I think I want to go looking too far on simple things ^^

By: PowerQuestion

PowerQuestion — Sun, 08 Sep 2013 21:20:52 +0000

One feature that would make your drive very appealing, even for marketing proposes is the auto-tune of the torque, velocity and position controller values, that can be seen on high market drives.
This however should only be done after you polish the current issues.

As far as I know, with your current granity implementation, it should not be difficult to implement an algorithm that would collect and process the torque response until a “optimum” value is achieve. As there are only a few variables, the algorithm should not be to much complicated to implement.
The same would then be done to the velocity and position settings.
You would have to manage when the drive enters in error in an automatic way, as the user would only need to start the test and wait.

This would be a very nice feature, that could be trick to implement, but would give to the user a faster installation procedure, or if slower, less boring/intense try and error approach (even you will receive less “tickets” about the settings).

By: Tero

Tero — Sun, 08 Sep 2013 18:43:35 +0000

Johann, its not different in DC motors. Motor has some torque constant which tells how current converts to torque. I.e. 1A current will always produce a equal amount of torque with same kind of motors. Drive doesn’t need to know how much torque that actually is, as long as it stays somewhat constant over time.

By: Johann

Johann — Sun, 08 Sep 2013 18:13:00 +0000

yes I know that the current is directly related to the torque on the motor shaft
but I perceive that I forgot to mention my motor is a permanent magnet DC Brush to
in this type of engine torque depends current in the coils but also magnets

By: Tero

Tero — Sun, 08 Sep 2013 17:54:57 +0000

Good answers! +1

By: PowerQuestion

PowerQuestion — Sat, 07 Sep 2013 16:59:30 +0000

The torque is directly proportional to the Amps, so the Argon knows the Amps +- equal to know the output torque. You can check the output graph, it is in Amps.

By: Johann

Johann — Sat, 07 Sep 2013 15:50:59 +0000

ok thank you I have already informed you about the importance of adjusting the torque,
because if I understand it is thanks to the torque that I could keep an accurate position.
but as an engineer I would like to understand how the argon
can measure the torque on the motor shaft without sensor

By: PowerQuestion

PowerQuestion — Sat, 07 Sep 2013 15:29:39 +0000

Maybe I can reply and help.

Torque tuning should always be made, if you control after in position mode or velocity mode. In ultimate analysis, you will always want that the motor achieves the desired torque, both in velocity and position.
AFTER you manage to have a good torque response, you should tune the position. That is all.
For torque tuning, you just need to clamp your motor (do not allow the shaft to rotate). The drive will then know if it was able to output the desired Amps in a controlled way.

I hope I helped.