Moog MSD Servo Drive Series User Manual

MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
127
7 Control
Adaptation of parameters
Acceleration and braking phases generate a variation which the speed control has
to balance out. With speed pre-control the necessary acceleration or braking
moment determined from the change in speed over time is applied to the output of
the speed controller.
If the travel range is not limited, it is advisable to optimize the speed controller by
means of step responses. In this, the motor model must be adapted precisely to the
individual motor. In the standard motor data set, the speed controller is preset for a
moderately stiff mechanical system. The speed controller may need to be adjusted to
the moment of inertia and the rigidity of the mechanism.
All parameters take effect online. The scaling parameter P322[0] - CON_SCON_
KpScale is transferred in defined real time (according to the speed controller
sampling time).
The following steps are needed to set the speed control loop depending on the
application:
No. Action
1
Adaptthespeedcontrollergaintotheexistingexternalmassinertia.For
this,eithertheknownmomentofinertiafromthemotordatacanbeused
directlyortheautomaticmassinertiadefinitionfunctionintheMotor
Identificationsubjectareacanbeused.
2
Ifthesystem'smomentofinertiaisdefinedmanually,itmustbereduced
tothemotor.
Fig. 7.20: Relevant variables
J
M
Momentofmassinertiaofmotor
J
red
Reducedmomentofmassinertiaofsystem
i
Geartransmissionratiofactor
J
2
Reduced moment of inertia
Legend for “Relevant variables”
ID Index Name Unit Description
2695
2695 0 ms
2695 1 ms
320 0 Nm/rpm
321 0 ms
322 0 %
351
CON_SCON_ScaleTF
ScaleMaxSpeedFil
ScaleMaxTorqueFil
CON_SCON_Kp
CON_SCON_Tn
CON_SCON_KpScale
CON_SCALC_TF
351 0 ms
351 1 ms
351 2
CON_SCALC_TF
CON_SCALC_TF
CON_SCALC_TF ms
Scalingfiltertimeconstant
Speedscalingfiltertimeconstant
Torquescalingfiltertimeconstant
Speedcontrolgain
Speedcontrolintegrationtimeconstant
Speedcontrolgainscalingfactor
Speedcalculationfiltertimeconstant
Filtertimeconst.speedcontrol
Filtertimeconst.fieldmodel(hydraulic)
Filtertimeconst.speedfrompositioncontrol
Table 7.10: “Speed controller” parameter

Moog MSD Servo Drive Series Specifications

General

Brand	Moog
Model	MSD Servo Drive Series
Category	DC Drives
Language	English