umbratek ADRA DD Series, Руководство пользователя

Страница: 26 / 52

EN Ver. 0.2.0
26 / 52 © 2022 Umbratek All Rights Reserved.
Control Algorithms
The Speed loop of the ADRA series actuators supports Active Disturbance Rejection Control (ADRC)
and Proportion Integration Differentiation (PID) control algorithms. The factory default algorithm is
ADRC algorithm.
Speed Loop ADRC Algorithms
Parameters Bar
1. Display and set motion/general parameters of the Speed loop.
2. All parameters of the actuator will be refreshed every time you enter the "Speed Mode" interface.
3. The parameters will take effect immediately after being set. Please pay attention to whether the
parameters are reasonable. If the parameters are inappropriate, the actuator will vibrate violently or
even break.
4.
Click save after parameter setting, otherwise the setting will be lost after power off.
Parameter Description
Acceleration Coefficient
Acceleration coefficient of speed loop. The smaller the value, the smaller the
acceleration, the gentler the start and stop. The acceleration and
deceleration of actuator motion will carry out speed planning similar to S
curve, and this coefficient adjusts the magnitude of acceleration and
deceleration of S curve speed planning.
Acceleration Compensation
Coefficient
Acceleration compensation coefficient of speed loop. The higher the value,
the stronger the velocity tracking, and the more pronounced the
vibration/jitter may be
Interference Compensation
Disturbance compensation coefficient of speed loop. The higher the value,
the stronger the speed rigidity, and the more pronounced the vibration/jitter
may be.
Speed Tracking Time
Speed tracking time of speed loop. The higher the value, the slower the
speed tracking, the weaker the speed rigidity. Similar to the PID parameter P
(ratio), but opposite to the polarity of P (larger P, more rigid).
Speed Tracking Differential Speed tracking differential of position loop. D, like PID.