Extended Control Functionalities

Synapticon provides several features for enhancing motion control even with low-cost hardware:

• Cogging Torque Compensation This feature removes ripples caused by magnetic interaction between motor rotor and stator.

• Field Weakening The velocity range of electric motors can be extended by weakening the magnetic field of the rotor linearly over the speed range.

• Anti-Windup Control An Anti-Windup alogorithm is used to prevent the Integrator part to accumulate beyond acceptable boundaries.

• Gain Scheduling Applies controller gains which will change dynamically regarding the current speed.

• Motor Overload Protection (i2t) This feature limits the overcurrent injected to the motor to prevent damage from overheating.

• Velocity feed forward To increase the velocity of the robot’s reaction, the target position signal can bypass the position controller.

• Torque Offset This feature allows a better performance if the load of the drive suddenly drops.

• Velocity Offset An additional velocity offset can be used to improve the positioning performance.

• Filtering Digital filters can be used to remove unwanted frequencies such as noise or nonlinear effects.

• Command smoothing and Interpolation: Successive setpoints can be smoothed, so that low command resolution and jitter have a reduced effect on the control.

• Control supervision Allows to supervise the work of the control loops

• Distributed clocks (DC clocks): Allows to synchronize the system time for enhanced performance.