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Introduction
The Bode Tool is a tool that makes it easy
to get frequency domain data from your system. The Bode Tool is
intended to make it easy to get the data a controls engineer needs
to set up and tune the control system properly.
Features
The Bode Tool can measure the closed loop frequency
response of a single axis system using sine sweep and white noise
excitation methods.
The Bode Tool can measure a two axis system simultaneously
using the sine sweep method, exciting the two axes in or out of
phase. This is useful for systems with cross-coupled axes (gantries,
scara robots, etc.)
The Bode Tool can measure directly the closed,
open, plant, and controller frequency response of a system using
a white noise excitation method. The Bode Tool allows users to specify
controller addresses for FFT inputs and output points to create
specific dual channel measurements limited only by the users imagination.
Knowledge of the control loop settings and records
them during a test, allowing simulation of control loop changes
away from the system under test, or after the test. PID, PIV, and
biquad frequency shaping based tuning methods are supported.
Simluation of the changes in the control system
can be made with out retesting, allowing control loop iteration
cycles measured in seconds, not hours.
Plotting of the frequency response data in Bode,
Nyquist, real / imaginary vs. frequency, and amplitude vs. phase
formats.
Automatic quantitative stability measurements
on both measured and simulated responses.
Extensive command line parameter flags allowing
automated testing from a batch file -- useful for diagnosis and
production line testing.
Can make a plant measurement of a system, and
simulate tuning, allowing the user to go from no tuning to high
performance tuning in one step. No more trial and error tuning.
From the closed loop response, the open loop response
is simulated. A filter can be simulated and the filtered open and
closed loop response can be simulated.
The results are plotted graphically, in addition
to being made available as tab delimited text files for use in external
analysis programs.
The control loop parameters for PID, PIV, and
biquad post filters can be configured from inside the Bode Tool
for quick, intuitive experimentation of controller response in simulation
or on a live system.
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