Moog ACV Series - Directional Depending Gain; Figure 111: State Feedback Axis Acceleration Proportional Gain; Figure 112: Directional Depending Gain; Object 0 X550 A: State Feedback Axis Acceleration Proportional Gain

Moog ACV with CANopen bus interface 7 Servo valve functions
Axis position controller
B99224-DV018-D-211, Rev. A, October 2018 205
7.8.21.3 Object 0x550A: State feedback axis acceleration proportional gain
The second derivation of the axis position value (or the derivation of the #VelFeedBack#) is the acceleration
feedback. To realize a state space controller, this second derivation multiplied with the
<ProportionalFeedBackGainKa> (0x550A) will be added to the other parts of the controller.
Figure 111: State feedback axis acceleration proportional gain
7.8.22 Directional depending gain
To compensate a not symmetrical movement between moving in and out a directional depending gain is im-
plemented.
Figure 112: Directional depending gain
7.8.22.1 Object 0x550D: Directional depending positive proportional gain
This gain is used while the input signal is positive.
7.8.22.2 Object 0x550E: Directional depending negative proportional gain
This gain is used while the input signal is negative.
#VelFeedBack#
<ProportionalFeedBackGainKa>
(0x550A)
<AccFeedBackOutput>
(0x5531)
DrivePositionControl
Index Sub-index Parameter name Data type Access
Per-
sis-
tence Value range Default
0x550A 1 ProportionalFeedBackGainKa FLOAT32 rw Y FLOAT32 0.0
#ControllerOutput1#
<ProportionalNegGain>
(0x550E)
<ProportionalPosGain>
(0x550D)
#ControllerOutput2#
DrivePositionControl
Index Sub-index Parameter name Data type Access
Per-
sis-
tence Value range Default
0x550D 1 ProportionalPosGain FLOAT32 rw Y FLOAT32 1.0
DrivePositionControl
Index Sub-index Parameter name Data type Access
Per-
sis-
tence Value range Default
0x550E 1 ProportionalNegGain FLOAT32 rw Y FLOAT32 1.0