Moog ACV Series - Page 25

Moog ACV with CANopen bus interface List of figures
B99224-DV018-D-211, Rev. A, October 2018 xxiii
Figure 77: Ramp type 3 ............................................................................................................................. 165
Figure 78: Pressure demand signal sign ................................................................................................... 167
Figure 79: Pressure controller ................................................................................................................... 168
Figure 80: Demand pressure ramp function .............................................................................................. 171
Figure 81: Pressure transducer selection .................................................................................................. 172
Figure 82: Actual value filter ...................................................................................................................... 174
Figure 83: Proportional first order lag element (PPT1) .............................................................................. 175
Figure 84: Integrator element (I) ................................................................................................................ 175
Figure 85: Integrator preload value............................................................................................................ 178
Figure 86: Proportional derivative element 1 (PD)..................................................................................... 180
Figure 87: Proportional derivative element 2 (PD)..................................................................................... 181
Figure 88: Alpha correction........................................................................................................................ 182
Figure 89: Signal limitation 1 ..................................................................................................................... 182
Figure 90: Feed forward ............................................................................................................................ 183
Figure 91: Signal limitation 2 ..................................................................................................................... 184
Figure 92: Parameterization of the pressure controller.............................................................................. 186
Figure 93: Spool position (Q) / pressure (P) switchover ............................................................................ 187
Figure 94: State machine used to switch between spool position control and pressure control................ 188
Figure 95: State machine used to switch between spool position control and pressure control................ 189
Figure 96: State machine used to switch between spool position control and pressure control................ 190
Figure 97: Axis position setpoint conditioning / demand value generator.................................................. 191
Figure 98: Axis position trajectory generator ............................................................................................. 193
Figure 99: Axis position derivation............................................................................................................. 193
Figure 100: Axis position demand value filter .............................................................................................. 194
Figure 101: Axis position controller.............................................................................................................. 195
Figure 102: Axis position transducer selection ............................................................................................ 199
Figure 103: Axis position synchronisation ................................................................................................... 200
Figure 104: Proportional element with first order lag element .....................................................................200
Figure 105: Integral element........................................................................................................................ 201
Figure 106: Derivative element.................................................................................................................... 202
Figure 107: Axis velocity feed forward proportional element .......................................................................203
Figure 108: Axis acceleration feed forward proportional element................................................................ 203
Figure 109: State feedback axis velocity and acceleration derivative element............................................ 204
Figure 110: State feedback axis velocity proportional gain ......................................................................... 204
Figure 111: State feedback axis acceleration proportional gain .................................................................. 205
Figure 112: Directional depending gain ....................................................................................................... 205
Figure 113: Signal limitation ........................................................................................................................ 206
Figure 114: Axis velocity setpoint conditioning / demand value generator .................................................. 206
Figure 115: Limit function .......................................................................................................
..................... 207