Moog DS2110, Инструкция по установке и эксплуатации

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CHAPTER 5.0 Functional Overview 5-38
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
5.11.2 Velocity Loop compensator
In velocity mode, the velocity compensator is an I-PI configuration, and has the structure as shown below: -
velf
iqdv
Kp
Ki
Kie
1
s
1
s
+
+
+
-
-
imax
-imax
vcmdsav
motvelliminc
-motvelliminc
+
+
Anti-windup
Anti-windup
Figure 5.8 : Velocity Loop (When in velocity mode) Compensator Structure
The output of this compensator is limited to
±
imax , and these limit’s can be read using the upper and lower limit
parameters of the compensator. The I-PI velocity loop compensator has gains as listed below.
Field
Number Name Type Units
1317 velocity_mode_p-gain f32 Nm/rad/s
1318 velocity_mode _i-gain f32 Nm/rad
1319 velocity_mode _ie-gain f32 none
Table 5.28 List of Velocity Loop Compensator Gains
Field
Number Name Type Units
1320 velocity_mode _error f32 incs/Tsamp
1165 velocity_filtered f32 incs/Tsamp
1120 current_demand_velocity_comp_output f32 Amps.
Table 5.29 List of Velocity Loop Read-only Parameters
5.11.2.1
Velocity Loop Sample Rate
The velocity loop sample period can be set to any multiple of the current loop sample period (~100us) using the
parameter
velocity_loop_rate_divider (1136).