PDServo is a linear math model of a proportional/psuedo derivative control system. This means that the feed forward compensation is proportional and the feedback compensation is both proportional and differential. This is most common in electric motor servos with tachometer as well as potentiometer feedback. This model, being linear, applies mostly to small signal stability analysis. Large command inputs will usually saturate current limits, which would greatly affect overall performance. Also, non linearity's such as coulombic and static friction as well as backlash are not included, which can also significantly influence performance. This program is useful as a first cut design/analysis of a servo system, which will later be enhanced with nonlinear simulation/analysis.
To use PD Servo first initialize all the physical parameters taking care to use consistent units. I edit the file using the edit option of the main keys of MtrxCal. Then define the period and frequency ranges and their increments. This will most likely take several iterations to get the best combination. Then switch to matrix keys and execute the program. If all parameters are properly defined, a graph of the gain will appear. Tap the screen and the phase plot will appear. Tap again and the step response will be plotted. Finally, after another tap, a list of computed performance parameters will appear such as the natural frequency, resonance frequency, damping ratio, time constant and settling time.
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Supported operating systems:
Palm OS 4.x, Palm OS 5.x
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