ITEM C 1-02, Руководство по эксплуатации продукта

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Function overview
Page 56
5.2 Functions of the item servo positioning controller C 1-Series
5.2.1 Compatibility
For compatibility reasons, from the user’s point of view, the control structure of the item C 1-Series has mostly the same
characteristics, interfaces and parameters as the previous item C Series.
PWM
M
Positioning
controller
Speed
controller
Current
controller
Power
stage
Motor
Angle encoder
1 and 2
Actual value management
X2A
X2B
X10
Set point management:
- Analogue inputs
- Fixed values
- Synchronization
- Ramp generator
Positioning control and
Interpolation
Trajectories calculation:
- Reference position
- Motorspeed precontrol
- Motorcurrent precontrol
E1 E2
Figure 4:
Control scheme of the item C 1-Series
Figure 4
shows the basic control structure of the item C 1-Series. Current controller, speed controller and positioning
controller are arranged in a cascade. Due to the rotor-oriented control principle the current can be set separated in active
current (i
q
) and reactive current (i
d
). Therefore there are two current controllers, both of them PI controllers. To provide a
better overview, however, the i
d
controller does not appear in
Figure 4
.
The planned basic modes of operation are torque control, speed control and positioning.
Functions such as synchronisation, “flying saw” and so on are variants of these basic modes of operation.
Furthermore, individual functions of these modes of operation can be combined with each other, for example torque control
with speed limitation.