Configuration; Control Path - Parker Compax3S025V2 Operating Instructions Manual

Setting up Compax3
4.4.3.2
122

Configuration

In this chapter you can read about:
Control path .....................................................................................................................................122
Motor parameters relevant for the control........................................................................................123
Mass inertia .....................................................................................................................................123
Nominal point data...........................................................................................................................123
Saturation values .............................................................................................................................125
Quality of different feedback systems..............................................................................................125
Typical problems of a non optimized control ...................................................................................126
Feedback error compensation .........................................................................................................127
Commutation settings ......................................................................................................................129
I²t - monitoring of the motor .............................................................................................................129
Relevant appication parameters ......................................................................................................132

Control path

For the motors, the knowledge of the mathematical model is a prerequisite.
Mathematically idealized model of the control path:
1 R /
K
U: Cotrol voltage
U : electromagnetically generated voltage in the motor
EMC
T: electric time constant of the motor winding
L: Winding Inductance
R: Winding Resistance
M : Drive torque of the motor
A
M : Load torque
L
M : Acceleration torque
B
I: Actual current r.m.s. (torque-producing)
K : Torque constant
T
J : Motor mass moment of inertia
mot
J : External mass moment of inertia
ext
J : Total mass moment of inertia
total
a: Acceleration
n: Velocity
192-120101 N11 C3I11T11 November 2007
1
K
π
T
2
π
2
T
Positioning via digital I/Os