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Originally Posted by Ether
Some questions:
What wheel were you using?
What speed(s) were you controlling at? What was the approximate voltage at each speed?
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I was using a 5in. colson wheel and controlled the motor speed between 500 rpm and 2500 rpm. I was not able to record voltage data because as mentioned, the interface I was using was through BDC-COM.
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Can you estimate the approximate transfer function from speed command to measured speed?
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The answer to this question would also answer your other question on the voltage at each speed. I have not done the complete testing yet, but the transfer function is obviously non-linear. Which could be reasons for spikes in rpm around the set point. Ideally, a speed controller will clamp its output to the last output once the setpoint was reached, to prevent these fluctuations due to non-linear motor controllers.
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Did you collect any data, such as time traces of speed command and speed output (for step commands or sinusoids).
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Sounds like your looking for information on rise time and settling time? Because I was running the Jag using BDC-COM, I wasn't able to record actual output information (unless there is a feature I am unaware of).
I tuned the gains of the controller to have a rise time of about 0.3 seconds and settle just under 1 second. Just visually, I would say settling time was closer too 2 seconds. When I run the setup on the CRIO, where I can log output data from the Jag I will be able to graph it and view true rise time and settling time for the response.
I am confident that the Jag will perform well under certain applications. It is my personal stance as a Control Engineer to have filtered feedback signals, and account for external disturbances if I need too with additional control, which the Jaguar can't do. I am confident the Jaguar can perform good speed and position control, but a smooth response where the controller is not being overworked may be hard obtain because the Jaguar does not allow the user to account for the variable non-linear effects. For FIRST purposes, I think the Jags can accommodate.
Hope this helps,
Kevin