Model Following Control - Leadshine EL8-EC Series User Manual

6.9 Model following control

Model following control is a type of closed loop control system. First, an ideal model is
constructed and acts as a reference for actual model in a closed loop control. Model
following control can be treated as a control mode with 2 flexibilities: Model reference can
be used to improve command responsiveness and closed loop control used to increase
responsiveness of the system towards interference. They don't affect each other.
Model following control can be used in position loop control to increase responsiveness to
commands, reduce positioning time and following error. This function is only available in
position control mode.
Position Position
Command filter
To adjust model following control
1. Automatic adjustment
Set model following bandwidth Pr0.00 = 1 for automatic adjustment. Now, Pr0.00 =
Pr1.01, model following bandwidth is adjusted automatically according to different
velocity loop gain.
3. Manual adjustment
Please used manual adjustment if

Automatic adjustment is not satisfactory.

Responsiveness needs further improvement in comparison with automatic
adjustment.

There is a need to set servo gain or model following control parameters
manually.
Steps to manually adjust
Step
1 Set up vibration suppression.
2 Set up the right inertia ratio.
3 Manually adjust gain.
Increase Pr0.00 provided that there is no overshoot and vibration. Usually Pr0.00 ≥
4
Pr1.01 is recommended.
Velocity
feedforward
MFC
+
Position
loop gain
-
Position
feedback
Content
User manual of EL8-EC***F AC Servo
Torque
feedforward
+
Velocity +
+
loop
gain
+
-
Velocity
Velocity
loop integral
feedback
time
constant
+
Current
loop Motor
control
-
Current
feedback
Encoder
253