Parker EME
Setting up Compax3
192-120103 N13 C3I20T11 / C3I32T11 December 2010
197
Traditional generation of a disturbance torque/force jerk
FG
FM
m
In settled state of the control, the motor force FM corresponds exactly to the load
force FG=m×g.
If the cord is cut through, the load force is eliminated abruptly and the controller
must first of all settle to the new situation.
In order to simulate this load jerk electronically, a disturbance current jerk is fed to
the Compax3 as a variable proportional to the disturbance torque at the velocity
controller output.
Electronic simulation of a disturbance torque jerk with the disturbance
current jerk
Current Controller
Stromregelung
Motor
Speed Controller
Drehzahlregelung
Position Controller
Positionsregler
Xw
X
n
i
1
K
T
1
1:
Feeding in of a disturbance current jerk, which corresponds to a disturbance torque jerk.
The maximum amplitude an the settling time of the following error decline with
rising dynamic stiffness. The settling behavior of the following error is furthermore a
measure for the attenuation and the bandwidth of the control.
Disturbance jerk response
1: Compensation torque of the controller
2: Simulated disturbance torque
3: Actual speed
4: Following error
5: Settling Time
