Parker EME
Setting up Compax3
192-120103 N13 C3I20T11 / C3I32T11 December 2010
265
Application:
For the graphic design of the position control.
Compliance of Position control
Shows the dynamic disturbance value behavior of the position control.
=> which dynamic influence does a disturbance torque have on the following error.
The disturbance toque is injected as disturbance current => this corresponds to the
effect of a disturbance torque f
current controlled
system
position
controlled
system
actual current
actual velocity
actual
position
actual position
desired
position
Position
controller
Velocity
controller
Current
controller
TeM
Frequency
response
measurement
Signal
generator
-
-
-
f: disturbance torque
Kt
2*Pi*J
1
velocity controlled
system
Signal generator
Signal Generator
Position controller
Lageregler
actual position
Lageistwert
desired position
Lagesollwert
Velocity controller
Geschwindigkeitsregler
actual velocity
Geschwindigkeitsistwert
Current controller
Stromregler
actual current
Stromistwert
current controlled system
Stromregelstrecke
f: disturbance torque
Störmoment
velocity controlled system
Geschwindigkeitsregelstrecke
position controlled system
Lageregelstrecke
Frequency response measurement
Frequenzgangmessung
Application:
Verification of the dynamic disturbance value behavior of the position control.
Which following error generates a sinusoidal disturbance torque / disturbance
current with the frequency fZ ?
The frequency response of the compliance corresponds to the disturbance step
response in the time range
Frequency settings
