Lust MASTERCONTROL MC6000 Series, Инструкция по эксплуатации

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Instruction Manual MC6000
8-3
8.1 General Control Structure
The basic structure shown here applies to all types of control. Additional structure diagrams
build on this.
Note:
The formation of the differential from the reference value minus actual value occurs in the controller
block and is not shown separately for the sake of simplicity. This applies also to the other block
diagrams.
Motor data such as rated speed (MOSNM), rated current (MOCNM), rated torque (MOMNM),
moment of inertia (MOJNM) etc. are stored in _MOT. The ASM has a number of other parameters:
rotor resistance (MOR_R), magnetizing inductance (MOL_M). In addition there are also maximum
speed (MOSMX) and motor constants (MOMC0...MOMC4) in the field weakening area.
The switching frequency of the modulator can be controlled using parameter PMFS (_CONF).
The torque controller parameters which can be set in _TCON are: gain (TCG), reset time (TCTLG)
and torque limitation (TCMMX). The scanning time of the TCTS controller is fixed at 125
µ
s.
The torque controller has two inputs m1* and m2* which can be summated internally. The
second input is necessary for inputting initial control values in position control and also for
torque control. This is explained in the following sections. Each of the torque controller inputs
has limits. The aim of limits is to ensure that the permitted limit values are not exceeded. The
limits of input m1* are dynamic and depend on input value m2*.
M
3 ~
C
A
B
_TCON _CONF
_MOT
TCG
TCTLG
TCMMX
TCTS
TCTLG
m1*
m2*
PMFS
MOxxx
:
:
TCG
+TCMMX
-TCMMX
TCMMX-m2*
-TCMMX-m2*
No. Function
A Asynchronous or synchronous motors
B Modulator and power stage
C Torque controller
m1* and m2* are torque controller inputs