Adaptive Control in Power PMAC

[xiaomupeng2009]

what is it about the adaptive algorithm of the powerpmac ?is it LMS or LS?

[Omron Forums Support]

It is close to LS with forgetting factor. Essentially, it identifies the hardware gain of the plant (only when there is a net desired accel.)

for a user defined period of time (Motor[x].Servo.EstTime), only considering data points with enough Dac input (Motor[x].Servo.MinDac)

in order to reduce the effect of the noisy input on the accuracy of estimation. You may find the details in the manuals.

[xiaomupeng2009]

i have no the card,can you tell me how does the adaptive algorithm work? when we use the adaptive algorithm, during the adjusting,it is to adjust the Pid parameters?thank you