1. Control position for servo motor Ac withTI Dsp f28335. (Id and Iq model)
(http://processors.wiki.ti.com/index.php/TMS320C2000_Motor_Control_Primer)
It is the original speed control with a fourth pid for position control. And a second
qep2 module to have the real position count.
http://tbirobotics.com/download/---> HVPM_Sensored-SIVA.c

2. The problem is that motor spins abruptly. Motor damages. Ever have overshoot
at end profile. I add a little low pass filter to init more smoothly ( not a fast 0 to 1).
Now motor does not damage. (see clear blue line)

3. The same before in matlab figure. All are real time measures. The PID works
bad. Impossible to get better adjusting parameters.

4. People use S-curve instead of 0-1 transitions for comanded position control
motor. This is an example that uses Adept robots.

5. EXAMPLE 1: Maxon motor.
EPOS_Application_Note_Position_Regulation_with_Feed_Forward_En.pdf

6. EXAMPLE 2: Parker
ServoFundamentals.pdf

7. EXAMPLE 3a: Delta Tau.
PMACTUNINGPRO.pdf This model use discrete formulation, how uses dsp.

8. EXAMPLE 3b: Delta Tau.
Turbo PMAC User Manual.pdf
Observe the two parameters Kvff and Kaff. Gains of speed and acc profiles.
I will use these parameters.

9. EXAMPLE 4: Kollmorgen
Kollmorgen AKD_User_Guide_(Parameter_Command-Fieldbus)_en-us Rev
G.pdf

10. Alternative 1a: Jacques Richalet propose use PFC.
The trajectory of reference is

11. Alternative 1b: Jacques Richalet propose for motor control a cascade of three
PFC.

12. Now for motor position control I generate 3 profiles on Pc at real time. I send by
usb. I inject them on the three pid loops.

13. If I only use the position profile (newpi_iq.Kff = 0 ; newpi_spd.Kff= 0), I have a
delay between comanded position and real position ( blue lines)

14. If I use the three profiles (newpi_iq.Kff = 1.8 ; newpi_spd.Kff= 0.58), the delay
between commanded and real position is minimal.

15. The problem is than with short cicles, the robot-slide have a real limit of 60
pieces for minute, to work with precision and smoothly.

16. If the s-curve is shorter, then the control is not good. At the end of movement,
the slide have oscilations ever different. The movement is not smoothly neither
precise.

17. Now the pi that I use is from Ti motor library.
Pag 5 of DMC MATH.pdf

18. Pag 2 of DMC MATH.pdf modified to incorporate Kff

19. Pag 2 of DMC MATH.pdf modified to incorporate Kff

20. Pag 1 of file NEWPI.H
The macro is not complicated for pi

21. The use of pi macro is very simple.
file HVPM_Sensored-SIVA.c

22. To Jacques:
The macro for PFC which would it be?
Will be complicated?
The profiles will be derived from exponentials?