Position error of motor shaft
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I want to obtain the position error of motor shaft so I subtracted the estimated position from the measured position. modulus function is used so the estimated and the measured positions vary between 0 to 2pi (electrical radians) as shown in the figures attached. the problem is that the error becomes 2pi at instant times. What can I do to not show this big error (2pi) in the figure?
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Mathieu NOE
2022년 12월 13일
이동: Joel Van Sickel
2022년 12월 15일
hello
you can make 2 pi complements on the error signal , following that logic
if error < -pi then error = error + 2pi
if error > pi then error = error - 2pi
goal is to keep error witin -pi / + pi bounds
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