Physical Units In The Control Circuit; Block Diagram Of The Position / Speed Controller When In Torque Control - Baumuller b maXX BM3000 Operating Manual

Description of the Software Modules and Parameters

Physical units in the control circuit:

Position controller
w1 Position e1 Position
set value controller error
[Grad] [Grad] Kv (18.14)
(18.11) (18.13)
Kv
[1/s]
-
x1 Position
actual value
[Grad]
(18.12)
Figure 144: Physical units in the control circuit
Block diagram of the position / speed controller module when in torque control:
Controller actual operating mode
Figure 145:

Block diagram of the position / speed controller when in torque control

The Isq set value for torque control
bus or analog input.
Speed controller
Kp (18.24)
Kp
e2 Speed
[1/s]
error
[Grad/s] Tn (18.25)
Ki =
(18.23)
Kp/Tn
2
[1/s ]
-
x2 Speed
[1/s]
actual value
[Grad/s]
(18.22)
(18.27) Time constant speed actual value filter
[ms]
(106.38) speed for controller
[INC/TAB]
[1/s]
S&H
Controlled system
x2
[s] [1/s]
Z18.4–
= 14
Z18.50–
can be written via parameter interface, Field-
Parameter manual b maXX BM3000
Document no.: 5.12001.07
[s]
Kd =
Kp Td
Load torque
[Nm]
Acceleration torque
2 2
[Nm] or [m kg/s ]
x3
2
[1/s ]
[s] 1/J
2
[1/kg m ]
5000_0085_rev02_int.cdr
4
Ks (18.40)
1/Ks
2
[As /Grad]
Isq set va
unlimited
[A]
(18.45)
Isq set va
[A]
(47.1)
Strom-
regler
Isq actual
[A]
(47.3)
-
Kt
[Nm/A]
Motor
torque
[Nm]
445
of 820