Behavior models used in CIP Motion
Chapter 2
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
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The Fine command position is applied directly to the Position Control loop
without any of the typical de-referencing and offsets. It is assumed that these
operations are performed by the controller or device based Motion Planner.
Feedforward signals are only applicable for Closed Loop Position and Closed
Loop Velocity Control Modes.
See also
The position command that results from the command interpolation and
feedforward signals then pass through a position command notch filter. The
purpose of this set of filters is to reduce anti-resonance behavior of a compliant
motor load by filtering out any commanded motion around the anti-resonance
frequency.
See also
In general, motor torque is controlled by controlling the orientation and
magnitude of the motor stator current vector with respect to the rotor magnetic
flux vector. The Current control loop is responsible for providing this control and
is actually composed of two PI loops, one that controls the torque producing
current, Iq, and one that controls the flux producing current, Id. It is the
quadrature component of current, Iq, that is used for dynamic Torque Control.
In the case of an induction motor, the flux producing current, Id, is solely
responsible for generating rotor flux. In the case of permanent magnet motors,
rotor flux is generated by the rotor magnets and Id is used only in some cases to
extend the speed range of the motor by changing the angle of the stator field
relative to the rotor field. In this case, the angle of Iq relative to the rotor field
remains the same, for example, at quadrature. However, because the vector
combination of Iq and Id determines the stator flux angle relative to the rotor,
increasing amounts of Id can shift the stator flux away from quadrature to extend
the speed range of the motor at the expense of torque.
Command Notch Filter
Current Control Behavior