Table of Contents
Advertisement
B.1.3 Position control (Pulse and Direction)
Setting the control mode to Position Control (Pulse and Direction) configures the FlexDrive
as a positioning system, as shown in Figure 52, capable of following a position demand signal.
The profiler interprets the pulse and direction signals and uses them to generate
corresponding position, speed and acceleration demand signals.
The position and speed demand signals are fed into a position controller and used, together
with the position measured from the feedback device, to generate a suitable speed demand
signal. If the position controller is tuned correctly, the measured position will accurately track
the position demand.
The speed demand signal from the position controller is fed into the speed controller and used,
together with the speed measured from the feedback device, to generate a torque demand
signal. If the speed controller is tuned correctly, the measured speed will accurately track the
speed demand. To improve the tracking performance of the speed controller, the profiler
acceleration demand is fed in at this point.
Finally, the torque demand signal is fed into a torque controller, which determines the
appropriate amount of current to apply to the windings of the motor. This demand current is
compared with the actual winding current measured from sensors, and a suitable pulse width
modulation (PWM) signal is generated. This PWM signal is fed to the power electronics in the
drive.
Position reference
(Pulse and Direction)
Figure 52 - Control structure in Position control (Pulse and Direction)
B-4 Control System
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
Profiler
Accn
Speed
Speed
demand
Position
Position
controller
Torque
demand
PWM
Speed
Torque
controller
controller
Measured current
Measured speed
Measured position
www.baldormotion.com
II
Power stage
+ motor
MN1902
Advertisement
Table of Contents
