EPOS2 Application Notes Collection - Maxon Motor

Controller Architecture
Application Examples
Electrical Part
R = 1.25 Ω
L = 0.319 mH
Interface between electrical and mechanical Parts
k M
=
38.2 mNm ------------
A
Mechanical Part
J = J motor
+ J load
= 5085gcm 2
k M
I 0
r ---------------------------------------
9.86mNm
= = -----------------------
2πrad
n 0
---------------
1min
⋅ ------------ 1089rad 2 = 9.05-------------------
μNm
( rad) ⁄ s
1 60s
• Input is the voltage at the motor winding.
• Outputs are current, velocity or position.
Regulation Tuning as to the described conditions results in the following controller and feedforward
parameters:
Figure 9-80
Example1 – System Parameters, real
maxon motor control
EPOS2 Positioning Controllers Document ID: rel3956 9-127
EPOS2 Application Notes Collection Edition: April 2013
© 2013 maxon motor. Subject to change without prior notice.