ndzied1
Lifetime Supporting Member
I don't know the specifics of the HYD02 but I do have a test box with pots to manually demo servo control of hydraulics.
To start, you should set in a proportional gain of 1 and no other active loop parameters (I, D, FF etc all disabled or off).
Set up a scope or trace of the command, feedback and output. Verify that the feedback tracks when you move the magnet. Set the command and feedback lines on top of each other and then turn on the control loop. Now vary the command to move the trace above the feedback. The output. Should rise along with the command. Move the magnet to bring the feedback line up to the command and the output should move back toward zero, hitting 0 when you put the feedback line directly on top of the command line.
You may have to scale things so you can see them all on the trace. For demo purposes I scale the command and feedback 0 to 100 and the output to +/-100. With a gain of 1 the output should numerically match the difference between the CMD and fdbk. With the scaling as I have explained, this is easy to see on a trace.
Once you get comfortable with that, you can turn on some integrator and then watch the output change even when the CMD and fdbk are constant. This is great to visually see what the integrator does.
But, you won't be able to control the magnet by hand accurately enough to get the loop tuned close to the physical reality of the system. You'd be better off looking to some of peters old posts on modeling to see what type of system you have and initial gain values to start with for tuning.
To start, you should set in a proportional gain of 1 and no other active loop parameters (I, D, FF etc all disabled or off).
Set up a scope or trace of the command, feedback and output. Verify that the feedback tracks when you move the magnet. Set the command and feedback lines on top of each other and then turn on the control loop. Now vary the command to move the trace above the feedback. The output. Should rise along with the command. Move the magnet to bring the feedback line up to the command and the output should move back toward zero, hitting 0 when you put the feedback line directly on top of the command line.
You may have to scale things so you can see them all on the trace. For demo purposes I scale the command and feedback 0 to 100 and the output to +/-100. With a gain of 1 the output should numerically match the difference between the CMD and fdbk. With the scaling as I have explained, this is easy to see on a trace.
Once you get comfortable with that, you can turn on some integrator and then watch the output change even when the CMD and fdbk are constant. This is great to visually see what the integrator does.
But, you won't be able to control the magnet by hand accurately enough to get the loop tuned close to the physical reality of the system. You'd be better off looking to some of peters old posts on modeling to see what type of system you have and initial gain values to start with for tuning.