Position Regulation with Feed Forward - Maxon Motor ag

EPOS Positioning Controller
maxon motor control
EPOS Application Note: Position Regulation with Feed Forward
Regulation Tuning
Regulation tuning is a sophisticated process for most drive systems. maxon motor EPOS Studio includes a
powerful wizard called Regulation Tuning. By means of this Regulation Tuning wizard most systems can be well
tuned within a few minutes. To tune an EPOS drive system follow these steps:
Step 1: Motor and system specific settings
Execute the Startup Wizard. It can be found via the navigation window Wizards of the EPOS Studio.
Figure 2: Startup-Wizard
Step 2: Current regulator tuning
Execute the regulation tuning by executing the regulation tuning wizard and follow the instructions to tune the
current regulator. Do not tune the position regulator nor the velocity regulator at this moment.
Figure 3: Regulation Tuning
Step 3a: Calculation of acceleration feed forward factor
Calculate the acceleration feed forward factor K as follows:
α
k
J
K α =
tot
⋅100
k
m
J
K α =
tot
⋅1000
k
m
[EPOS 24/5, EPOS 70/10 and MCD EPOS 60W]
[EPOS 24/1]
- [ mNm / A ] is the motor torque constant (maxon motor catalogue line 12)
m
J tot
gcm
2
- [ ] is the total inertia of the drive system. If the total inertia is not known take twice the rotor inertia
(maxon catalogue line 16) and check position regulation. Increase
J tot
in the upper formula if necessary.
2
J = J + J [ ]
tot
motor
load
gcm
Step 3b: Write the new acceleration feed forward factor
Write the calculated value of K α to the object Acceleration Feedforward Factor (go to Object Dictionary):
K α Acceleration Feedforward Factor 0x60FB 0x05
4 maxon motor control Edition May 2008 / Subject to change