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Gain tuning
„ Control devices block diagram (position control)
In the figure, "+" indicates addition and "-" indicates subtraction.
The description which is surrounded by a box ( ) is the parameter name.
1)
2)
Control device
Control device
position command
position deviation
+
–
5) Feedback position
Name
Control device position
1)
command
Control device position
2)
deviation
3)
Control device speed demand
4)
Speed deviation in controller
5)
Feedback position
6)
Feedback speed
278
Speed
feed-forward
+
Position
loop gain
+
3)
Control device
speed command
Indicates the speed command of the control device (after command filter).
Indicates the position deviation of the control device (after command filter).
Indicates the speed command of the control device (after command filter).
Indicates the speed deviation of the control device (after command filter).
Indicates the feedback position.
Indicates the feedback speed.
4)
Control device
Speed loop
+
speed deviation
integral time
–
constant
Speed loop
Torque lter
gain
Mechanical rigidity
compensator
6) Feedback speed
Mechanical
rigidity setting
Description
+ +
Motor
(LPF)
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