Etel DSC2P - 9 Simplified Regulators Principle

Operation & Software Manual
72
Direct Drives & Systems
Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
9. Simplified regulator's principle
9.1 General diagram
Force
calculator
Motor position x
Motor speed v
Set point
generator
F force supplied by the motor
Integrator
Limit
Current in phase 1
Encoder
Phase 1
Phase 3
Phase 2
Motor
Speed
estimator
1
st
order
filter (x2)
Current loop : 1, 2 or 3 phases
Fc
Ic
I
1
K80
K81
K1
K2
K4
K21
K20
Motor commutation
look-up table
Position
calculator
K3
Integrator
Limit
K60
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.
)
Regulator: cti (refer to §4.
)
K8
+
-
+
+
+
-
++ + +
-
-
V
c
a
c
I
2
X
X
c
X
e