Moog MSD Servo Drive Series

①
Greencurve=Amount
Y-axisleft=Absolutevalueofisd/isdref
②
Bluecurve=Phaseresponse
Y-axisright=PhaseresponseIsd/isdref
Legend to Current controller transfer function
7.3.3Currentactualvaluefilter
A first-order digital filter (PT1) can be configured in order to smooth the measured
“isd” and “isq” actual current values. This is particularly useful when using drives
with high speeds.
NOTE
 Thecontroldynamicperformancewillbereducedwhenusingthe
currentactualvaluefilter.Usingthecurrentactualvaluefilteris
notadvisablefordrivesthatrequireahighcontroldynamic
performance.
The current actual value filter is configured with P1960[0] - CON_ACT_ISDQ_TF,
with the filter time constant being defined in milliseconds.
Filtered actual currents “isd” and “isq” can be visualized with scope signals 25 and
26. The unfiltered values can be visualized using scope signals “isd_unfil” (129) and
“isq_unfil” (130).
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
112
7 Control
7.3.4Detenttorquecompensation
Fig. 7.9: Typical positioning sequence
In speed and position-controlled operation, the ripple of the torque and power
causes a current ripple in the q-current. When detent torque compensation is used,
these q-current input data are imported to a teach table in the controller (teaching
routine, learning). The compensation table is created from this (calculation) which is
then ultimately used for the feed forward control of the q-current in the controller
(compensation).
In the low speed range, these disturbance torques can be eliminated well by the
control system. In the medium to high speed range, the disturbance torques can be
reduced very well using the table-based compensation described here. In the high