Omron M1 Series User Manual page 295

PI control of the speed controller is feedback control whereby corrective action (following the speed
command) is performed according to the result (actual speed value) of the control target. Accordingly,
with this control, correction also is effective on external disturbances that cannot be measured and
causes that cannot be directly measured such as the uncertainty of control target characteristics. How-
ever, changes also in known command amounts are corrected after they appear in deviation (speed
command - actual speed value) later on. As the control value (torque command) is required in ad-
vance for known causes, faster-response control can be expected by adding that control value directly
to the torque command. This parameter is for performing this kind of control. Feedforward control adds
the torque that is determined from the amount of change in the speed command directly to the torque
command.
This is effective when the load inertia is already known. As shown conceptually in the figure below, the
speed of the actual value following the command amount when feedforward control is disabled and
when it is enabled is completely different. Note, however, that, in order to obtain maximum effect, the
PI constants of feedback control should be adjusted to balance well with this set value.
Speed
Speed command value
0
Torque output
0
Although the above effect can be obtained by setting the P gain of the speed controller to a higher
value, increasing gain is counterproductive as is it also increases system response and produces ma-
chine resonance and vibration sound.
Notch Filter Resonance Frequency (3014Hex-08Hex/
3009Hex-32Hex/3013Hex-32Hex/300CHex-32Hex) and Notch Filter
Attenuation Level (3014Hex-09Hex/3009Hex-33Hex/3013Hex-33Hex/
300CHex-33Hex)
The speed loop gain at only near a preset resonance point can be lowered to suppress machine reso-
nance. The notch filter can be used only when "vector control with speed sensor" is selected. Setting a
higher speed loop gain to increase speed response may result in machine resonance being generat-
ed.
M1 Series EtherCAT Type User's Manual (I670)
Actual speed value
Torque command
7 Vector Control and Applied Functions
Speed
Time
0
Torque output
Time
0
Speed command value
Actual speed value
Time
Torque command
7
Time
7-29