Strange noise on acceleration curve during motor tuning

All things related to Centroid Oak, Allin1DC, MPU11 and Legacy products

Moderator: cnckeith

Post Reply
the1depot
Posts: 36
Joined: Tue Feb 19, 2013 4:08 pm
Acorn CNC Controller: Yes
Allin1DC CNC Controller: Yes
Oak CNC controller: No
CNC Control System Serial Number: A2001675520
DC3IOB: Yes
CNC12: Yes
CNC11: Yes
CPU10 or CPU7: Yes

Strange noise on acceleration curve during motor tuning

Post by the1depot »

I am upgrading an Anilam control to the all in one unit. I am seeing a sinewave riding on the acceleration curve on the tuning scope in the PID screen. The motors are also emanating a sound. I have the report attached and a picture of the waveform. I was running at 30 IPM with 0,5S pause. The encoder is the original 1000PPR. Also The original power supply is being used. I ordered a new Capacitor and rectifier board from Centroid as the Cap is the original and the ripple was about 8%

Any Ideas would be greatly appreciated.
Attachments
PXL_20220829_195750808.jpg
report_0222171695_2022-08-29_16-26-38.zip
(5.11 MiB) Downloaded 9 times
tblough
Posts: 3072
Joined: Tue Mar 22, 2016 10:03 am
Acorn CNC Controller: Yes
Allin1DC CNC Controller: Yes
Oak CNC controller: Yes
CNC Control System Serial Number: 100505
100327
102696
103432
7804732B977B-0624192192
DC3IOB: No
CNC12: Yes
CNC11: No
CPU10 or CPU7: No
Location: Boston, MA
Contact:

Re: Strange noise on acceleration curve during motor tuning

Post by tblough »

You drive is oscillating. See the Centroid Technical Bulletin below:
https://www.centroidcnc.com/dealersuppo ... ds/260.pdf
Cheers,

Tom
Confidence is the feeling you have before you fully understand the situation.
I have CDO. It's like OCD, but the letters are where they should be.
ashesman
Posts: 395
Joined: Thu Dec 03, 2020 4:54 am
Acorn CNC Controller: No
Allin1DC CNC Controller: No
Oak CNC controller: Yes
CNC Control System Serial Number: none
DC3IOB: No
CNC12: Yes
CNC11: No
CPU10 or CPU7: No

Re: Strange noise on acceleration curve during motor tuning

Post by ashesman »

Usually high frequency control oscillation is caused by too much proportional gain or not enough derivative gain. Usually a good PID tuning method is to start will really low Kp and 0 Kd and 0 Ki, low enough Kp that response is sluggish. Then start increasing Kp bit ny bit until you start seeing signs of oscillation. Then add a bit of Kd to settle it down. Keep increasing Kp and Kd alternately until you can not get them any higher and then back them both down a bit. Next introduce a bit of Ki to remove the steady state error. Be careful, too much Ki can cause big slow oscillations. Usually Ki is a very small number compared to Kp. Kd is usually 2 to 8 times bigger than Kp.

To think of it in simple terms:
Kp is how much the control tries to react to a difference between target and actual position (referred to as the error)
Kd is how much the control reacts to a CHANGE in the error.
Ki is how much the control will keep increasing its output incrementally over time to reduce steady state error

But, obviously the tech doc mentioned above is the best place to start...
ashesman
Posts: 395
Joined: Thu Dec 03, 2020 4:54 am
Acorn CNC Controller: No
Allin1DC CNC Controller: No
Oak CNC controller: Yes
CNC Control System Serial Number: none
DC3IOB: No
CNC12: Yes
CNC11: No
CPU10 or CPU7: No

Re: Strange noise on acceleration curve during motor tuning

Post by ashesman »

Also, starting with slower acceleration times (like 0.5s) would make tuning easier. Then works towards faster acceleration.
the1depot
Posts: 36
Joined: Tue Feb 19, 2013 4:08 pm
Acorn CNC Controller: Yes
Allin1DC CNC Controller: Yes
Oak CNC controller: No
CNC Control System Serial Number: A2001675520
DC3IOB: Yes
CNC12: Yes
CNC11: Yes
CPU10 or CPU7: Yes

Re: Strange noise on acceleration curve during motor tuning

Post by the1depot »

Thank you for the help. I will try this tomorrow.
Post Reply