WillyTuring

4.Here actually comes another problem by using e.q of V=i(t)R+L·(di(t)/dt)+kω, i ran the experiments and when the motor reaches the stable point which inductive term goes to 0, i then...

Hi Arthur, Really appreciating your help as always. I think you are right on the modeling part. The theoretical model always needs to be adapted with the practical situation. But...

Hi Arthur, So what you are saying is that i plot the input and the response sinusoidal curve on a time scale then calculate the phase delay(time delay) between those...

Hi Arthur, Very clear reasoning. Following along with the time stamp you gave above, let's see if i understand your point correctly. So basically our goal is to get the...

Hi Arthur, I don't think i confused the "cycle period" with "the action inside each cycle". According to your expression: "Assume your controller sends torque setpoints at time A1, A2,...

Hi Arthur, You bringing another really good point here that is the inertia part: "At fast cycle times (

Hi Arthur, I have tested the model back and forth then stucked. I have found the relationship between the velocity and the position(unit: pulse) meaning if if i have the...

Hi Arthur, I have actually done the plotting like yours as well except i did in Excel which i'm more familiar with and i actually did toggle the command from...

Hi Arthur, I have been had some progress testing and tweaking the model, but got stuck when i toggle between different target torque setpoint. Here's the situation:  The data...

Hi Arthur, Quick note before i give out some quick updates, i have some thoughts on explaining what's the issue i mentioned in the last comment, but still would be...