umbratek ADRA HR Series, User Manual

Page: 29 / 52

EN Ver. 0.2.0
29 / 52 © 2022 Umbratek All Rights Reserved.
Control Algorithms
The torque loop of the ADRA series actuators supports Active Disturbance Rejection Control (ADRC)
and Proportion Integration Differentiation (PID) control algorithms. The factory default is PID control
algorithm.
Torque Loop ADRC Algorithms
Parameters Bar
1. Display and set motion/general parameters of the torque loop.
2. All parameters of the actuator will be refreshed every time you enter the "Torque Mode" interface.
3. The parameters will take effect immediately after being set. Please pay attention to whether the
parameters are reasonable. If the parameters are inappropriate, the actuator will vibrate violently or
even break.
4.
Click save after parameter setting, otherwise the current setting will be lost after power off.
Parameter Description
KP
Proportional parameters of the current loop. (The activation button needs to
be enabled for setting operation)
KI
Integral parameter of current loop. (The activation button needs to be enabled
for setting operation)
Smooth Cycle
Torque command smoothing cycle. If set to N, after a new target torque is set,
each torque control period only takes effect for 1/N relative target torque. The
larger the value, the smoother the motion and slower the response.