Moog DS2110, Инструкция по установке и эксплуатации

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APPENDIX B – GUI B-20
CDS7324 (FORMERLY LSF-0819)
Rev. A INSTALLATION & USER’S MANUAL
FEEDBACK
•
velocity command
→
velocity command prior to acceleration limiting
•
velocity command (previous)
→
velocity command after acceleration limiting
•
actual velocity (filtered) (rad/s)
→
low pass filtered velocity
•
extd vel. comp. error → difference between actual velocity and demanded velocity
•
torque cmd (vel comp o/p) (A)
→
the output from the velocity compensator
•
torque cmd (gen filter o/p) (A)
→
the output from the velocity compensator after passing through the generic
filter block
B.2.16.16 Position PI Loop Compensators
The Position PI Loop Compensators panel allows the user to set the configuration of the PI loop gains and to see
the feedback values.
The output of the compensator is limited to motvelliminc, a term derived from the motor_max_velocity parameter.
The compensator also implements anti-windup for the compensator’s integrator.
CONFIGURATION
•
PI comp. p-gain (Kp)
→
The p-gain of the PI compensator (1/s).
•
PI comp. i-gain (Ki)
→
The i-gain of the PI compensator (1/s^2).
•
Vel. Pi comp. p-gain (Kp)
→
The p-gain of the velocity loop PI compensator used in position mode (Nm/rad/s).
This is separate to the velocity loop compensator used in velocity mode.
•
Vel. Pi comp. i-gain (Ki)
→
The i-gain of the velocity loop PI compensator used in position mode (Nm/rad).
This is separate to the velocity loop compensator used in velocity mode.
•
position loop rate divider
→
The rate divider of the position loop mode – the number of current loop samples
per position loop sample.
FEEDBACK
•
demand
→
The requested value of the position (note that the units for this parameter will only be correct (rad)
when the drive is position mode)
•
position (rad)
→
The actual value of the position
•
PI comp. error
→
The difference between position and demand.
•
velocity command
→
velocity command prior to acceleration limiting (the output from the PI compensator)
•
velocity command (previous)
→
velocity command after acceleration limiting
•
actual velocity (filtered) (rad/s)
→
low pass filtered velocity
•
vel. comp. error
→
difference between actual velocity and demanded velocity
•
torque cmd (vel comp o/p) (A)
→
the output from the velocity compensator
•
torque cmd (gen filter o/p) (A)
→
the output from the velocity compensator after passing through the generic
filter block.