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Actuator instability with noise bursts on falling edges of the sine wave torque feedback signal

 

 

PROBLEM 

 

 

Actuator goes unstable with resulting noise bursts on falling edges of the sine wave torque feedback signal (Figure 1).  

 

 

Figure 1 -  Specimen going unstable during test and resultant noise pattern



 

 

ANSWER

 

This can happen with when the specimen has non-uniformity in stiffness like a bio-sample since the torque tuning parameters will not be remain viable throughout the test as the stiffness changes with movement.  

 

The solution is to setup up a dual compensation control mode using angle as the base control mode and torque as the secondary feedback signal.  

K
Keary is the author of this solution article.

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