Lenord, Bauer GEL 8310, Руководство по эксплуатации, Страница: 46 / 226

F
UNCTIONAL
D
ESCRIPTIONS
4.4 Drive control
4-7
8310/8610-8
4.4 Drive control
4.4.1 Principle of regulation
K
sp
s
v
[DispU]
[DispU/sec]
v U
[ V ]
GEL 8x10
[1/sec]
K
vu
t
t
v
k
a
v
U
Delta_s
nominal
value
gene-
rator
act. value
process-
ing
E1800078
From the programmed machine parameters of the drive and the specified
nominal values of position (and possibly speed), the Controller calculates a
time-dependent speed characteristic
v
t
and the associated position s
t
.
At the beginning of each cycle (1 msec per programmed axis), the speed value
v
t
valid at that time is preset for the drive (principle of speed pre-control). At the
same time, the actual position is inquired and compared to the value s
t
calculated for this time. If the result shows a difference (positive/negative
contouring error = Delta_s, to be shown in display C), then this difference is
converted using the proportional action factor
K
sp
to an equivalent speed value
v
k
. This value is then added to the time-dependent nominal speed value v
t
.
The control dynamics ( K
sp
) can be adjusted according to requirements (storage
location 3/33).
The ratio of the speed v to the output voltage U
a
( K
VU
) is fixed by the pro-
grammed values of U
min+
, U
max
and v
max
(storage locations 3/29, 3/31 and
3/32).
After the control preset value has reached the value for the nominal position
(speed pre-control is terminated then), the dead range (S
dead+
/S
dead-
) preset
via storage locations 3/27 and 3/28 becomes effective: as long as Delta_s is
within this range,
U
a
= 0 remains unchanged. This also applies to active
position loop controlling in the interrupted or reset state (storage location 3/47).