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Gain tuning
„ Control devices block diagram (Position control)
In the figure, "+" indicates addition and "−" indicates subtraction. The description surrounded by a box ( ) is the
parameter name.
1)
2)
Control device
Control device
position command
position deviation
+
−
5) Feedback position
1)
Control device position command
2)
Control device position deviation
3)
Control device speed command
4)
Control device speed deviation
5)
Feedback position
6)
Feedback speed
„ Control devices block diagram (Speed control)
1)
Control device
speed command
Name
1)
Control device speed command Indicates the command speed of the control device (after command filter).
2)
Control device speed deviation
3)
Feedback speed
230
Speed
feed-forward
Position
loop gain
Name
Indicates the command position of the control device
(after command filter).
Indicates the position deviation of the control device
(after command filter).
Indicates the command speed 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.
2)
Control device
+
Speed loop
speed deviation
integral time
−
3) Feedback speed
Indicates the speed deviation of the control device (after command filter).
Indicates the feedback speed.
4)
Control device
+
+
speed deviation
+
3)
−
Control device
speed command
Speed loop
Mechanical rigidity
compensator
Mechanical
rigidity setting
Description
+ +
Speed loop
gain
constant
Description
+ +
Speed loop
integral time
constant
Torque lter
gain
(LPF)
6) Feedback speed
Motor
Torque lter
(LPF)
Motor
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