Parker Compax3 C3I20T11, Руководство по эксплуатации

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Setting up Compax3 C3I20T11 / C3I32T11
200
192-120103 N13 C3I20T11 / C3I32T11 December 2010
Controller coefficients
In this chapter you can read about:
Velocity Loop P Term .................................................................................................... 200
D-term of the KD velocity controller ............................................................................... 200
P-term KV position loop ................................................................................................. 200
Dependence of the controller coefficients from the optimization objects
The controller coefficients are influenced by the optimization objects such as
"stiffness" and/or "attenuation". The dependency is displayed below.
I-term KI in the velocity loop
St K
T
St
K
I
EGD
I
~
100
[%]
⇒
⋅
=
T
EGD
: The replacement time constant of the closed velocity loop.
St Rigidity
Velocity Loop P Term
) ( / ~ ~
20
[%] 14 , 0 30
[%]
100
100
[%]
100
[%]
Dp f K EMK Tm K St K
Dp
EMK
T
Tm
T
St
K
LIN PV PV PV
N
EGD
PV
= ∧ ∧ ⇒
⋅ +
⋅ ⋅ ⋅ ⋅
⋅
=
T
EGD
: The replacement time constant of the closed velocity loop.
T
N
: The mechanical integration time constant of the motor.
f
LIN
(): Linear function (straight) between attenuation and KPV
Tm Moment of Inertia
St Rigidity
Dp Damping
D-term of the KD velocity controller
Dterm K
K
Dterm
K
D
D D
~
100
[%]
% 100 _
⇒
⋅ =
KD_100%
: The defined 100% coefficient
Dterm D term
P-term KV position loop
[%]) / 1 ( [%] ~
[%] 14 , 0 30
20
100
[%]
Dp f K St K
T
Dp T
St
K
LIN V V
X
EGD
V
= ∧ ⇒
⋅
⋅ +
⋅
⋅
=
T
EGD
: The replacement time constant of the closed velocity loop.
T
X
: The position integration time constant of the motor.
St Rigidity
Dp Damping
f
LIN
(): Linear function (straight) between 1/attenuation and KV