Tool/software:
Hello fellows,
I'm using the to implement a control mechanism to move come mechanism in both directions, with equal time spent in each direction.
To achieve this, I'm driving the mechanism with a triangular waveform. From the PWM inputs perspective, I'm applying a rising PWM@32MHz duty cycle to IN1 for half of the period, followed by a falling duty cycle for the other half. I then repeat this process with IN2.
Here you can see a capture from a logic analyzer of both inputs.
The mechanism moves almost as expected. However, problems arise when I check the filtered output (using a low-pass filter to eliminate PWM).
OUT1 yellow, OUT2 blue. OUT1-OUT2 pink
As you can see, there are some nonlinearities when I change the movement from forward to backward. These nonlinearities cause glitches in the mechanism's movement. I initially thought this was due to the dead time inserted to prevent shoot-through, but the duration seems excessive, around 1.36 ms.
Does anyone have any ideas on how I can avoid this?
