Etel DSC2P - 13 Advanced Functions (Only for Advanced Users)

ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions
Operation & Software Manual
Direct Drives & Systems 137
13. Advanced functions (only for advanced users)
13.1 Regulators in details - advanced tuning
13.1.1 Regulators diagram
Force
calculator
Motor position
Motor position x
Motor speed v
Set point
generator
F force supplied by the motor
Integrator
Integrator
Limit
Limit
Limit
1
st
order
filter
1
st
order
filter
Current in phase 1
Encoder
Phase 1
Phase 3
Phase 2
Motor
Speed
estimator
1
st
order
filter (x2)
X
e
: Position errorX
c
: Position reference
V
c
: Speed reference
F
c
: Force reference
I
c
: Reference of current
X: Motor real position V: Motor speed F: Force supplied by the motor I
1
: Current in phase 1
I
2
: Current in phase 2
Set point generator: sti (refer to §4.
)
Regulator: fti (refer to §4.
)
Current loop : 1, 2 or 3 phases
Fc
Ic
I
1
I
2
K80
K81
K82
K60
K9
K114 K115 K116 K117 K118
K104 K105 K106 K107 K108
K6
K4
K1
K2
K23
K5
K21
K20
Motor commutation
look-up table
Position
calculator
K8
Advanced
filters
K3
Limit
K60
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
-
-
-
X
X
c
X
e
V
c
a
c
Regulator: cti (refer to §4.)
Remark: Parameter K82 does not exist on the DSCDL.