Moog MSD Servo Drive Series, Помощь по устройству, Страница: 106 / 320

Sampling times of the individual control loops (at switching frequency of
8 kHz)

Current controller = 62.5 μs

Speed controller = 125 µs

Position controller = 125 µs
The control system is set up in a cascaded configuration. The position, speed and
current controllers are configured in sequence. The sequence of controller setup
must always be observed in controller optimization.
1. Current controller setup
2. Speed controller setup
3. Setting for position controller / Pre-control
7.1.1 Setting
When using a standard Moog motor data set, the control parameters are preset for
the specific motor model (external mass inertia = motor inertia). If using third-party
motors, a manual setting must be made for the drive by way of the motor
identification or by calculation in order to define the appropriate control parameters
for the motor model.
7.1.1.1 Speed control circuit
The setting of the speed controller with the associated filters is dependent on the
motor parameters (moment of inertia, torque/force constant, load inertia/mass,
friction, rigidity of the connection and encoder quality). Consequently, a manual or
automatic optimization is often required.
MOOG
ID No.: CB40859-001 Date: 02/2018
MSD Servo Drive - Device Help
106
7 Control
7.1.1.2 Position control loop
The position control loop is dependent on the dynamism of the underlying speed
controller, on the setpoint (reference) type and on the jerk, acceleration and
interpolation methods.