Estun Summa Series - Model Following Control

Summa Series Servodrive Product Manual
Tuning
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
9-35
Before tuning After tuning
Speed Speed
The load torque compensation function is to compensate the load torque compensation to the torque
reference through the load torque observer.
To reduce the overshoot caused by load torque compensation, use the load disturbance compensation
percentage to adjust the compensation value:
Load Torque Compensation＝Load Torque Observer × Load Inertia Percentage (Pn160)
In addition, you can adjust the bandwidth of the load torque observer via Load Torque Observer Gain
(Pn161). Increase the setting of Pn161 for making the observed torque closer to the actual torque, but
overshooting will be likely to occur.
Parameter
Setting
Meaning
When Enabled
Classification
Pn160
－
Load Torque Compensation
Immediately
Adjustment
Pn161
－
Load Torque Observer Gain
Immediately
Adjustment
9.5.6 Model Following Control
The Model Following Control is outside of the position loop. In Model Following Control, new position
references are generated based on the theoretical Motor control model, and relevant speed feedforward
and torque feedforward are generated. Applying these controls to the actual control loop can significantly
improve the response performance and positioning performance of the position control. Figure 9-17
shows the block diagram in model following control.
Figure 9-17 Block diagram in model following control
Drive
Position loop Speed loop Torque loop
Position
reference
M
Current
Encoder
Motor
SpeedPosition
Parameter settings
Manual adjustment
Host
controller
Model
following
control
To use the Model Following Control function, set the following parameter.
Parameter
Setting
Meaning
When Enabled
Classification
Pn150.0
0 [Default]
Do not use Model Following
Control.
After restart
Function
1
Use the model following control.