DIGITAL
FILTER
Σ
ZOH
DAC
ENCODER
AMP
MOTOR
CONTROLLER
R
C
X
Y
V
E
P
Figure 10.4 - Functional Elements of a Motion Control System
Motor-Amplifier
The motor amplifier may be configured in three modes:
1. Voltage Drive
2. Current Drive
3. Velocity Loop
The operation and modeling in the three modes is as follows:
Voltage Drive
The amplifier is a voltage source with a gain of Kv [V/V]. The transfer function relating the input
voltage, V, to the motor position, P, is
(
)(
)
[
]
P V
K
K S ST
ST
V
t
m
e
=
+
1
1
+
where
T
RJ K
m
t
=
2
[s]
and
T
L R
e
=
[s]
and the motor parameters and units are
Kt
Torque constant [Nm/A]
R
Armature Resistance
Ω
J
Combined inertia of motor and load [kg.m2]
L
Armature Inductance [H]
When the motor parameters are given in English units, it is necessary to convert the quantities to
MKS units. For example, consider a motor with the parameters:
Kt = 14.16 oz - in/A = 0.1 Nm/A
R = 2
Ω
J = 0.0283 oz-in-s2 = 2.10-4 kg . m2
L
=
0.004H
168
•
Chapter 10 Theory of Operation
DMC-1600
