Learning Servo Motion Control
Although I use commercial motion control equipment, I enjoy learning about the fundamentals of servo motor control.Â I’m currently going through the posts in TI’s Motor Control blog; they have a high signal to marketing ratio, and include a lot of non-obvious tips, like the best time to measure current.
The posts include a number of simulations which are helpful in understanding the different control topologies.Â However, there is still no substitute for spinning actual motors.
Commercial controllers are great at getting you up and running quickly, but don’t let you play with different control techniques.Â For learning, motion control development kits are the way to go.
My dev kit is TI’s DRV8312-C2 kit with a F28035 DSP, DRV8312 brushless DC driver chip, and servo motor (unfortunately TI didn’t include a dual shaft model, but I have plenty of servo motors with encoders).Â TI’s ControlSuite software provides a variety of control methods.