For my discussion, I choose to talk about how derivatives are used Â for servo motor controls. First, we need to discuss what a servo motor Â is and what it does. A servo motor is a current and voltage-controlled Â electrical motor. This motor works on a closed-loop system through the Â commands of a servo controller which uses a feedback device to control Â the velocity and position of the servo. A great example of this would be Â the cruise control in a car. The servo controller would be the driver Â setting cruise control to a set speed which sends a voltage signal and Â varying current to the servo which controls the throttle until you get Â to a certain speed, then maintains that speed. The feedback device would Â be your tachometer telling the servo to lower the current being sent if Â you go over the set speed and to raise the current if you go under the Â set speed. The servo is using Proportional Integral Derivative or PID Â which changes the motorâ€™s output based on the set speed and what the Â tachometer reads. The PID algorithm uses Proportional feedback which Â tells the servo that it needs to go faster to reach the set speed Â increasing current sent to the servo. Derivative feedback tells the Â servo that we are over the set speed, and it doesnâ€™t need to run anymore Â decreasing current sent to the servo. Integral feedback holds the Â current at its set amps and holds the position of the servo to keep the Â set speed without any outside interactions that would call for the need Â of the other two. Below is an image of how the PID algorithm works.
When put into an equation it will look something like this:
Thank you for reading.
Collins, D. (2022, October 17).Â FAQ: What are servo feedback gains, overshoot limits, and position error limits?Â Motion Control Tips.Â https://www.motioncontroltips.com/faq-what-are-servo-feedback-gains-overshoot-limits-position-error-limits/Links to an external site.
Proportional Integral Derivative (PID). (n.d.).Â com/pdc/index.php/Main/ProportionalIntegralDerivative” target=”_blank” rel=”nofollow noopener”>https://apmonitor.com/pdc/index.php/Main/ProportionalIntegralDerivativeLinks to an external site.
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