97
A.1
Introduction
Within the MintDrive control software, instantaneous axis position demands produced by the MintDrive
software must be translated into motor currents. This is achieved by closed loop control of the motor.
The motor is controlled to minimize the error between the demanded and measured positions (often
known as the following error). An incremental encoder or a resolver is used to measure the motor
position. Every 1ms
*
the MintDrive compares demanded and measured positions and calculates the
correct demand for the motor. The corrective signal is calculated by a PIDVF (Proportional, Integral,
Derivative and Velocity Feed Forward) algorithm.
On the following page, Figure A.1 shows the MintDrive’s positional, speed and current control loops.
These are internal MintDrive control loops which can be tuned using the following keywords:
Purpose
Name
Abbreviation / keyword
Position Control
Proportional gain
KPROP
Integral gain
KINT
Velocity Feedback
KVEL
Velocity Feedfoward
KVELFF
Derivative gain
KDERIV
Acceleration Feedforward
KACCEL
Velocity Control
Proportional gain
KVPROP
Integral gain
KVINT
Current Control
Proportional gain
KIPROP
Integral gain
KIINT
*
The 1ms sampling interval can be changed using the
LOOPTIME
keyword.
A
Tuning
A
Содержание MintDrive
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