Festo CMMT-ST-SW, Оригинальное руководство пользователя

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Name Parameters ID Px.
M_in Setpoint value torque
The setpoint value torque is used as a pilot control value for the current
regulator and refers to the output side (motor + gear unit). The resulting
setpoint value is dependent on the parameterised upstream variables of
the pilot control
è
6.3 Pilot control (Setpoint value control).
94
M_refM_r-
ef Setpoint value torque 2220
v_act Actual velocity value 1210
v_in Velocity setpoint value
The setpoint value velocity is used as a pilot control value for the velocity
regulator
è
6.3 Pilot control (Setpoint value control).
91
v_ref Setpoint value velocity controller 2216
x_act Actual position value 128
x_in Position setpoint value 90
Tab. 344 Legend for the block diagram of the cascade controller
6.1.2 Position controller
The position controller is designed as P-controller which calculates the velocity specification for the
secondary velocity control circuit from the control difference (setpoint position - actual position). A
dead zone member suppresses all control differences with the value "0" if it lies within the paramet-
erised symmetrical dead zone. The P-member generates the setpoint velocity from the control differ-
ence and position controller amplification factor. This can be asymmetrically limited via the minimum
and maximum correction velocity. At active velocity pilot control (default setting), values "Setpoint
velocity" and "Velocity pilot control" are added and issued as velocity specification to the secondary
velocity controller. The velocity controller setpoint value can be asymmetrically limited via the result-
ing lower and upper limit value velocity. If the setpoint value reaches the limit, this can be requested
via a status.
Fig. 81 Block diagram of position controller
Control
342 Festo — CMMT-ST-SW — 2019-02