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 />
<strong>Application</strong> Examples<br />
Electrical Part<br />
R = 2.07 Ω<br />
L = 0.620 mH<br />
Interface between electrical and mechanical Parts<br />
k M<br />
=<br />
52.5 mNm ------------<br />
A<br />
Mechanical Part<br />
J = J motor<br />
+ J load<br />
= 172gcm 2<br />
r 0<br />
=<br />
8.65mNm<br />
r 1<br />
211-------------------<br />
μNm k<br />
( rad) ⁄ s<br />
M<br />
I 0<br />
+ ----------------------------------------- ( 211 + 6)<br />
-------------------<br />
πNm<br />
217-------------------<br />
πNm<br />
2πrad<br />
load<br />
n 0<br />
---------------<br />
1min<br />
( rad) ⁄ s ( rad) ⁄ s<br />
⋅ ------------<br />
1 60s<br />
motor<br />
= = =<br />
<br />
• Input is the voltage at the motor winding.<br />
• Outputs are current, velocity or position.<br />
Regulation Tuning according to the described conditions results in the following controller and feedforward<br />
parameters:<br />
Figure 9-96<br />
Example 2 – System Parameters, real<br />
maxon motor control<br />
<strong>EPOS2</strong> Positioning Controllers Document ID: rel3956 9-135<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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