July 2013 6.8 The control loop 853
Acceleration
feedforward control
Acceleration feedforward functions only in velocity feedforward control in
parallel with the speed controller.
At every change in velocity, spikes of short duration appear in the following
error. With acceleration feedforward control you can minimize these spikes:
First adjust the friction compensation. Enter values in MP2610.x to
MP2620.x.
From the integral-action component of the nominal current value I (int rpm)
calculate the input value for MP2600.x.
Adjust the acceleration feedforward control with MP2600.x.
MP2600 = 0
MP2600 = optimum
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