EPOS2 Application Notes Collection - Maxon Motor
EPOS2 Application Notes Collection - Maxon Motor
EPOS2 Application Notes Collection - Maxon Motor
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Controller Architecture<br />
Regulation Methods<br />
9.3 Regulation Methods<br />
9.3.1 Current Regulation<br />
During a movement within a drive system, forces and/or torques must be controlled. Therefore, as a<br />
principal regulation structure, <strong>EPOS2</strong> offers current-based control.<br />
Figure 9-73<br />
Controller Architecture – Current Regulator<br />
Constants<br />
Sampling period: T s<br />
= 100 μs<br />
Object Dictionary Entries<br />
Symbol Name Index Subindex<br />
K P_<strong>EPOS2</strong> Current Regulator P-Gain 0x60F6 0x01<br />
K I_<strong>EPOS2</strong> Current Regulator I-Gain 0x60F6 0x02<br />
Table 9-123<br />
Current Regulation – Object Dictionary<br />
Conversion of PI Controller Parameters (<strong>EPOS2</strong> to SI Units)<br />
K P…SI<br />
1Ω<br />
= ------- ⋅ K P…EPOSs<br />
=<br />
2 8<br />
3.91mΩ ⋅ K P…<strong>EPOS2</strong><br />
K I…SI<br />
1Ω<br />
= ----------<br />
2 8 ⋅ K I…EPOSs<br />
=<br />
T s<br />
3.91 Ω --- ⋅<br />
s<br />
K I…<strong>EPOS2</strong><br />
Current controller parameters in SI units can be used in analytical calculations, respectively numerical<br />
simulations via transfer function:<br />
K I…SI<br />
C current<br />
( s) = K P…SI<br />
+ --------------<br />
s<br />
maxon motor control<br />
<strong>EPOS2</strong> Positioning Controllers Document ID: rel3956 9-119<br />
<strong>EPOS2</strong> <strong>Application</strong> <strong>Notes</strong> <strong>Collection</strong> Edition: April 2013<br />
© 2013 maxon motor. Subject to change without prior notice.
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