Saw your product on EEVBlog. Very interesting! Have you had any problems with inertia matching between the upgraded motor and loads? Does it use a PID control loop? How is the dithering?
Thank you! I haven't seen any issues with inertia matching; though I have a feeling that with sufficiently advanced system identification you can compensate for the resonance effects. It uses a nested position, velocity, current control loop. I don't know what you mean by dithering?
Servo dithering is when the servo moves back and forth trying to settle on a final position. Distance will only be a small number of encoder lines. More audible than noticeable in position.
Kent VanderVelden, Ah yes, I was thinking to make a filter to stop that oscillation. Right now there is indeed this, as the controller "hunts" blindly for the right encoder count as the discrete counts means it has no velocity information when very close. The amplitude in steady state is 1 encoder count, and the frequency depends on the tuning, but around 50-100Hz.
Hey thanks for the video. Could you let me know what motors you used? Its not clear on their website if this will work for all Brushless motors? could you provide some input?
