Baumuller b maXX BM2500, Руководство по эксплуатации

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Description of the Software Modules and Parameters
Parameter manual b maXX BM3000
Document no.: 5.12001.07
445
of 820
4
Physical units in the control circuit:
Figure 144: Physical units in the control circuit
Block diagram of the position / speed controller module when in torque control:
Controller actual operating mode
Z
18.4
–
= 14

Figure 145: Block diagram of the position / speed controller when in torque control
The Isq set value for torque control
Z
18.50
–
can be written via parameter interface, Field-
bus or analog input.
5000_0085_rev02_int.cdr
(18.27)
(18.45)
(47.1)
(47.3)
(18.11) (18.13) (18.23)
(18.22)
(106.38)
(18.12)
x2
[1/s]
x3
[1/s ]
2
- -
-
Kp (18.24)
Kv (18.14)
Kp
[1/s]
S&H
Kv
[1/s]
Ks (18.40)
Tn (18.25)
[s] [s]
[s] 1/Ks
[As /Grad]
2
Kt
[Nm/A]
1/J
[1/kg m ]
2
Ki =
Kp/Tn
[1/s ]
2
Kd =
Kp Td
[1/s]
[1/s]
Speed controller
Strom-
regler
Motor
torque
[Nm]
Position controller
Controlled system
Time constant speed actual value filter
[ms]
speed for controller
[INC/TAB]
x2 Speed
actual value
[Grad/s]
x1 Position
actual value
[Grad]
w1 Position
set value
[Grad]
e1 Position
controller error
[Grad] e2 Speed
error
[Grad/s]
Acceleration torque
[Nm] or [m kg/s ]
2 2
Load torque
[Nm]
Isq set va
unlimited
[A]
Isq set va
[A]
Isq actual
[A]