Parker EME
Setting up Compax3
192-120101 N11 C3I11T11 November 2007
213
Application:
For the graphic design of the position control.
Compliance of Position control
Shows the dynamic disturbance value behavior of the position control.
=> which dynamic influence does a disturbance torque have on the following error.
The disturbance toque is injected as disturbance current => this corresponds to
the effect of a disturbance torque f
current controlled
system
position
controlled
system
actual current
actual velocity
actual
position
actual position
desired
position
Position
controller
Velocity
controller
Current
controller
TeM
Frequency
response
measurement
Signal
generator
-
-
-
f: disturbance torque
Kt
2*Pi*J
1
velocity controlled
system
use:
Verification of the dynamic disturbance value behavior of the position control.
Which following error generates a sinusoidal disturbance torque / disturbance
current with the frequency fZ ?
The frequency response of the compliance corresponds to the disturbance step
response in the time range
Current control
Closed current control
Shows the dynamic behavior of the closed current control.
=> How a signal on the current demand value is transmitted to the current actual
value.
(response)
current controlled
system
position
controlled
system
actual current
actual velocity
actual
position
actual position
desired
position
Position
controller
Velocity
controller
Current
controller
TeM
Frequency
response
measurement
Signal
generator
-
-
-
f: disturbance torque
Kt
2*Pi*J
1
velocity controlled
system
Application:
During the optimization of the current control for verification
for the design of superposed controllers.
