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Control System B-7
MN1901
B.2.3 Torque controller and feedback
The torque controller, shown in Figure 60, is a PI controller. Gains are set using the Mint
keywords
KIPROP
and
KIINT
. The torque demand is scaled into a current demand. This is
compared with the measured current, obtained from the current sensors, and the error is fed
into the PI control calculation. The resulting value forms the PWM signal that is fed through
the power stage into the motor windings. The gain values
KIPROP
and
KINT
must be tuned
for a specific motor. This is performed automatically by the Commissioning Wizard.
The feedback device (e.g. an encoder or resolver) is used to determine motor position and
speed. Motor speed can be filtered to reduce measurement noise if necessary. The time
constant of this filter is specified using the keyword
KVTIME
. By default the filter is turned off
(
KVTIME= 0
). Note that introducing a filter on measured speed tends to reduce the stability
of the speed controller. This can make the tuning of the speed controller gains difficult if large
values of
KVTIME
are used.
KIPROP
KIINT
dt
Proportional gain term
Integral gain term
Torque demand
+
+
+
-
PWM value
(EFFORT)
Current
demand
Internal
scaling
Current
sensors
Feedback
device
(e.g. encoder,
resolver)
Motor
Measured current
Feedback
interface
Measured speed (VEL)
Measured position (POS)
Filter
(KVTIME)
Power
stage
Figure 60 - Torque control system
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