I spent a couple of days adding velocity control to our Synaptron Micro motion controller. I should probably be more clear. The product already has the ability to use the velocity measurement from a quadrature encoder as a feedback source. Meaning you can operate a motor at a PID controlled velocity. What you couldn’t do was operate as a position controller with a velocity limit applied to the movement. Okay you could already do that too, but the methods were a little “complicated”. The desire for a less complicated velocity control method came about when working on the articulated robot wheel. Laziness, the mother of invention.
For those not familiar with the Synaptron Micro the product is configured by modifying internal register settings. For some applications, such as analog control of position, you only need to configure the device once. For other modes such as serial control of position it is assumed you have a controller that is continuously in contact with the Synaptron Micro motion controller.
The video above shows the results of the velocity control that was added, while the remainder of this blog entry covers other methods of controlling motor speed during movement. Here are the four ways you can now control a motor’s velocity while moving to a position…