EPOS2 Application Notes Collection - Maxon Motor

Controller Architecture
Application Examples
For numerical simulation, the conversion results from EPOS2 to SI units are as follows:
Current Controller
K P…EPOS2
= 832 K P…SI
= 3.25Ω
K I…EPOS2
= 209 K I…SI
= 8.17 kΩ ------
s
Velocity Controller
mA
K P…EPOS2
= 1575 K P…SI
= 31.5-------------------
( rad) ⁄ s
K I…EPOS2
= 257 K I…SI
= 1.29-------------------
A⁄
s
( rad) ⁄ s
Position Controller
K P…EPOS2
= 386 K P…SI
= 3.86--------
A
rad
K I…EPOS2
= 1193 K I…SI
= 93.1 A ---------
⁄ s
rad
K D…EPOS2
= 616 K D…SI
= 49.3 mAs ----------
rad
Positioning and Velocity Feedforward
mA
K ω…EPOS2
= 4426 K ϖ…SI
= 4.42-------------------
( rad) ⁄ s
μA
K α…EPOS2
= 270 K α…SI
= 270----------------------
( rad) ⁄ s 2
Plausibility Check
K a…SI
r 1
K ω…SI
------
mA
= = 4.13-------------------
( rad) ⁄ s
k M
– 7
172 ⋅ 10 -------------------
Nm
-----
J
( rad) ⁄ s
k -------------------------------------------- M 52.5 ⋅ 10 – 3 Nm
327 μA
= = = ----------------------
2
------- ( rad) ⁄ s
A
maxon motor control
9-136 Document ID: rel3956 EPOS2 Positioning Controllers
Edition: April 2013
EPOS2 Application Notes Collection
© 2013 maxon motor. Subject to change without prior notice.