Inovance SV660, Руководство для продвинутых пользователей, Страница: 158 / 426

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6 Gain Tuning
6.5.4 Feedforward Gain
1 Speed Feedforward
Position
reference
source and
direction
Speed loop
control
×
M
Encoder
Motor
Reference
position
input
Electronic
gear ratio
Position
reference
filter
Current
loop control
Speed
feedforward
controller
No speed
feedforward
Internal speed
feedforward
AI1 speed
feedforward input
AI2 speed
feedforward input
0
1
2
3
Speed
feedforward
selection
(H05-19)
×
Position
deviation
Position
loop control
Speed
calculation
Position
feedback
+
-
Speed
feedback
-
+
+
Figure 6-8 Operating procedures for speed feedforward control
Speed feedforward can be applied to the position control mode. When position control or full closed-
loop is used, the speed feedforward function can be used to improve speed reference responsiveness and
reduce the position deviation during constant speed.
Operating procedures for speed feedforward are as follows.
1) Setting the speed feedforward signal source
Set H05-19 to a non-zero value to enable speed feedforward, and the corresponding signal source will be
selected.
Para.
No.
Name Value Range Description
H05-19
Speed
feedforward
control selection
0: No speed feedforward -
1: Internal speed
feedforward
Defines the speed information corresponding to the
position reference (encoder unit) as the speed feedforward
signal source.
2) Setting the speed feedforward parameters (including H08-19 and H08-18)
Para.
No.
Name Description
H08-18
Speed
feedforward
filter time
constant
Actual speed
Position reference
Increase the
value of H08-00
and H08-02
Increase the
value of H08-19
◆
Parameter function:
Increasing the value of H08-19 improves the responsiveness but may cause speed
overshoot during acceleration/deceleration.
Decreasing the value of H08-18 suppresses speed overshoot during acceleration/
deceleration. Increasing the value of H08-18 not only suppresses the noise in the case
of long position reference update period, long drive control period and uneven position
reference pulse frequency, but also suppresses jitter of the positioning completion signal.
◆
Adjustment method:
Set H08-18 to a fixed value, and then increase the value of H08-19 gradually from 0 to a
certain value at which speed feedfoward reaches the required effect.
Adjust H08-18 and H08-19 repeatedly until reaching a well balanced performance.
H08-19
Speed
feedforward
gain