Bosch PIN8 N1 Guía para resolver problemas descargar pdf (Pagina 265)

100

101

MPH-02, MPB-02, MPD-02 Drive Control 6-53

DOK-INDRV*-MP*-02VRS**-FK01-EN-P

When using a load-side encoder the velocity control loop includes the

possibility to generate the actual velocity value used for control via a "mix

factor" (see Parameter Description of P-0-1119) from the actual velocity

values of the motor encoder and the load-side encoder (see also figure

"Velocity loop").

Note: Combining the actual values of motor encoder and load-side

encoder via a mix factor can be very advantageous for

controlling systems with a low degree of stiffness in the case

of connected load.

In the velocity control loop there is the additional possibility of making the

control performance of the velocity loop more dynamic by using the so-

called acceleration feedforward. The command value for the current

controller then, to the greatest possible extent, is directly derived from the

velocity command value. The velocity loop will then only be required for

correcting disturbances. The figure below illustrates controller

feedforward:

P-0-1126

P-0-0180

P-0-0048

DF000065v01_en.fh7

feedforward

filters

torque/force

and current

limitation

act

motor

control

velocity

loop

P-0-0048: effective velocity command value

P-0-0180: acceleration feedforward smoothing time constant

P-0-1126: velocity control loop: acceleration feedforward

Fig. 6-36: Acceleration feedforward in velocity control loop

Note: This kind of feedforward can be advantageously used for a

very high degree of inertia and/or low encoder resolution.

The following filters are available in the velocity control loop:

• four freely configurable 2

order filters (low pass, band-stop, ...)

• one 1

order low pass (PT1 element)

• one moving average filter

Velocity Mix Factor

Acceleration Feedforward

Possibilities of Filtering

1 2 ... 260 261 262 263 264 265 266 267 268 269 270 ... 727 728

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Bosch PIN8 N1 Guía para resolver problemas Pagina 265

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