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DRV8301-69M-KIT: Inertia with Load

Ayushi Thakkar
Intellectual 840 points
Part Number: DRV8301-69M-KIT

I am trying to achieve Speed and Position control using lab12b. I am using Quadrature Encoder for Speed Control and absolute encoder with SPI to get position data.

According to theory , inertia varies with payload , I was suspicious about how I can fix inertia value and operate with different load on joint?

Is it even possible to fix values like Inertia, Friction and Bandwidth so motor can achieve SpeedControl and PositionControl in every situation?

  • 0
    TI__Guru** 109740 points
    Please have a look at chapter 7 about inertia identification, load inertia should be a fixed value for a motion system, the same for friction. You could change the bandwidth base on your requirement, but we recommend you use a fixed value also.