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Topic-icon Dolly rollback

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7 months 3 days ago #29534467 by maxshitik
Dolly rollback was created by maxshitik
Hello, Roboteq team!

I have MDC 2460 controller which makes a dolly ride on rails according to joystick signal. But when the dolly stops it has a rollback which is proportional to the stop dynamics. Could you recommend me any techniques to overcome this effect? Maybe some controller settings should be done or anything else?
Thank you in advance!

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7 months 3 days ago #29534470 by Gabriel_Isko
Replied by Gabriel_Isko on topic Dolly rollback
This is almost certainly something that has to do with PID tuning. Or if you are in open loop, it is a lack of position control. Right off the bat, you will have to increase your Proportional gain if you are in a closed loop position mode.

Please post your configuration settings and explain a bit more about how you have the application set up.

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7 months 2 days ago #29534474 by maxshitik
Replied by maxshitik on topic Dolly rollback
Hi, Gabriel! Thank you for your answer!

My dolly is used for transporting videocamera while it is taking picture, so movement smoothness is critical for me. Can increasing the proportional gain spoil this smoothness? I tried to reduce the rollbacks using acc and decc parameters - lower values helped to decrease this effect. At the same time low acc/decc led to bad dolly behaviour when I tried to reverse the movement direction with my joystick: the dolly began to swing left/right around the stopping point with increasing speed.
The configuration profile is attached.
By the way, I'm using switching power supply - can it affect?

Thanks for your help!
Attachments:

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6 months 4 weeks ago #29534487 by Gabriel_Isko
Replied by Gabriel_Isko on topic Dolly rollback
Hmm, you should be able to get smooth motion with the correct PI gains. However, this will depend heavily on the weight of your system, and the speeds you are trying to achieve, as well as your motor and gearing situation. Do you think you could provide a bit more information about those factors?

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