EXPERIMENT 01 / MOTOR LAB
Make the motor follow.
Tune the controller. Watch motion and signals answer together.
01 / PREDICT
Find the feedback loop
Where does the motor speed go after you change the target?
What do you predict?
Close the feedback loop
Measured speed returns to the controller. Pin this run, then switch to open loop with the same target, motor and load events.
r − y → C → V → motor → y ↩
REPLAYABLE SIMULATIONCALCULATING… / M-01
SPEED—TARGET120 rad/s
t = 0.00 s / 12.00 s
Click the chart or move the time slider to replay.
TARGET120 rad/s
Actual—
Requested—
Applied—
Error now—
OSCILLOSCOPE / MEASURED RESPONSE
Step response
Loading plot…
Rise time—
Overshoot—
Settling—
Final error—
Control effort—
PINNED RUNS 0/3
Pin a run, change one setting, then compare the traces.
Frequency workbenchExplore the small-signal motor speed loop behind this controller setting.
FIELD NOTE / 01
Find the feedback loop
Read field notesYOUR PREDICTION
Choose a prediction above before comparing the result.
WHAT TO WATCH
Use the response plot and the live target, actual speed and error readouts on one replay clock.
Move the target, then replay the response.
CURRENT SETTINGS / LIVE SIGNAL
P 0.22 —I 0.6 —D 0.008 —
The large number is the gain; the smaller number is that term’s output at the replay cursor. Change one gain, then pin and compare the run.