Parker Compax3S025V2, Operating Instructions Manual

Page: 149 / 314

Parker EME
Setting up Compax3
192-120101 N11 C3I11T11 November 2007
149
Velocity Loop ”P” Term
) ( / ~ ~
20
[%] 14 , 0 30
[%]
100
100
[%]
100
[%]
Dp f K EMK Tm K St K
Dp
EMK
T
Tm
T
St
K
LIN PV PV PV
N
EGD
PV
= ∧ ∧ ⇒
⋅ +
⋅ ⋅ ⋅ ⋅
⋅
=
T
EGD
: the replacement time constant of the closed velocity loop.
T
N
: The mechanical integration time constant of the motor.
f
LIN
(): Linear function (straight) between attenuation and KPV
Tm Moment of Inertia
St Stiffness
Dp Attenuation
D-term of the KD velocity controller
Dterm K
K
Dterm
K
D
D D
~
100
[%]
% 100 _
⇒
⋅ =
KD_100
%: The defined 100% coefficient
Dterm D-term
P-term KV position loop
[%]) / 1 ( [%] ~
[%] 14 , 0 30
20
100
[%]
Dp f K St K
T
Dp T
St
K
LIN V V
X
EGD
V
= ∧ ⇒
⋅
⋅ +
⋅
⋅
=
T
EGD
: the replacement time constant of the closed velocity loop.
T
X
: The position integration time constant of the motor.
St Stiffness
Dp Attenuation
f
LIN
(): Linear function (straight) between 1/attenuation and KV