Festo SFC-LAC CO Series, Manual

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1. System summary
1−5
Festo P.BE−SFC−LAC−CO−EN en 0708NH
1.1.2 Operating principle
1
Setpoint generator
2
Reference variable
input
3
State vector feedback
4
PI current regulator
5
Output stage
6
Current regulator
7
Observer
3 4 5 6
7
1 2
RVI
SVF
Obs.
Fig.1/2: Simplified diagram of control structure
Block Task
Setpoint generator Generates executable position and velocity curves.
Reference variable
input Uses desired position, velocity and acceleration curves to calculate a force
curve and from that a current curve, which is then directly input fas the
current setpoint value. Enables motion free of drag fault.
State vector feedback Controls position and speed.
PI current regulator Makes sure that all three strings have the correct current values.
Output stage The three strings are supplied with current via pulse width modulation.
Current regulator Phase current regulation and electrical commutation.
Observer Determines speed and external forces of interference (e.g. friction, gravity).