Moog MSD Servo Drive Series

Sampling times of the individual control loops (at switching frequency of
8kHz)
 Currentcontroller=62.5μs
 Speedcontroller=125µs
 Positioncontroller=125µs
The control system is set up in a cascaded configuration. The position, speed and
current controllers are configured in sequence. The sequence of controller setup
must always be observed in controller optimization.
1. Currentcontrollersetup
2. Speedcontrollersetup
3. Settingforpositioncontroller/Pre-control
7.1.1Setting
When using a standard Moog motor data set, the control parameters are preset for
the specific motor model (external mass inertia = motor inertia). If using third-party
motors, a manual setting must be made for the drive by way of the motor
identification or by calculation in order to define the appropriate control parameters
for the motor model.
7.1.1.1Speedcontrolcircuit
The setting of the speed controller with the associated filters is dependent on the
motor parameters (moment of inertia, torque/force constant, load inertia/mass,
friction, rigidity of the connection and encoder quality). Consequently, a manual or
automatic optimization is often required.
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
106
7 Control
7.1.1.2Positioncontrolloop
The position control loop is dependent on the dynamism of the underlying speed
controller, on the setpoint (reference) type and on the jerk, acceleration and
interpolation methods.