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Step Response of the Servomotor AKM53H-ACG2C-01 Transfer Function | 17 Mar 2017 | |

Step Response of the Servomotor AKM53H-ACG2C-01 Transfer Function

Hi, I would like get the step response in open loop  of the servomotor AKM53H-ACG2C-01 transfer function, i did some simulations but de response that i got was underdamped, the dates that i using are:

kt = 1.75           %N-m/Arms
ke=112             %V/Krpm = 1.0695 V/[rad/s]
Rm = 2.1;         %Ohms
L = 11.413e-3;  %Henry
Jm = 9.12;        %kg-cm^2 = 9.1200e-04 kg-m^2 = 9.1513152e^-04 N-m-s^2
kdv=0.052;      %N-m/Krpm  = 4.9656e-04 N-m/[rad/s]

Because the response wasn´t overdamped or critically damped if the dates are ideals?.

The figures are attached, i am using the software Matlab Simulink.

Fig1: Dates of the catalogue kollmorgen

Fig2: Motor´s Transfer function

Fig3: Step response obtained

 

captura1.png (105.29 KB)
captura2.png (8.32 KB)
captura3.png (11.13 KB)

Comments & Answers

jcoleman02 said ...

jcoleman02 |
Your step response looks fairly normal for a servo system that is not tuned perfectly. Again, we don't have any step response data for a motor by itself. In a real-world application, we would connect the motor to a drive and tune the control loops in the drive to get the response that we want, whether over-damped or under-damped. Typically, we like to have some velocity overshoot in order to get good motor performance, but it depends on the loads and motion requirements of each application.

jcoleman02 | Fri, 03/17/2017 - 20:48

Are you only wanting theoretical information, or are you trying to tune a servo system? We don't provide any step response or frequency response data for our motors. However, if you have one of our AKD servo drives, you can run a bode plot to see the frequency response. Can you be more specific about what you are asking for and why?

Francisco Villa | Fri, 03/17/2017 - 21:17

I only wanting theoretical information about the response underdamped that got with the parameters of the servomotor, because it oscillates at the beginning of the step?

jcoleman02 | Fri, 03/17/2017 - 21:27

Your step response looks fairly normal for a servo system that is not tuned perfectly. Again, we don't have any step response data for a motor by itself. In a real-world application, we would connect the motor to a drive and tune the control loops in the drive to get the response that we want, whether over-damped or under-damped. Typically, we like to have some velocity overshoot in order to get good motor performance, but it depends on the loads and motion requirements of each application.

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Francisco Villa
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