Position Regulation with Feed Forward - Maxon Motor ag
Position Regulation with Feed Forward - Maxon Motor ag
Position Regulation with Feed Forward - Maxon Motor ag
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maxon motor control<br />
EPOS Application Note: <strong>Position</strong> <strong>Regulation</strong> <strong>with</strong> <strong>Feed</strong> <strong>Forward</strong><br />
EPOS <strong>Position</strong>ing Controller<br />
Step 4a: Calculation of Velocity<strong>Feed</strong>forward Factor<br />
Calculate the Velocity <strong>Feed</strong>forward Factor K as follows<br />
ω<br />
K<br />
ω<br />
30 ∆I<br />
= ⋅<br />
π ∆ω<br />
[µA /rad /s]<br />
K<br />
- ω [µA /rad /s] considers a linear load current increase<br />
∆ ω [rpm]<br />
∆ I [µA] if the angular velocity is enhanced by<br />
-<br />
∆I<br />
∆ω<br />
can easily be determined by measuring the current at two different speeds. (You can also assume<br />
I=0 at ω =0).<br />
Step 4b: Write the new velocity feed forward factor<br />
Write the calculated value of K ω to the object Velocity <strong>Feed</strong>forward Factor (go to Object Dictionary):<br />
K ω Velocity <strong>Feed</strong>forward Factor 0x60FB 0x04<br />
Step 5: <strong>Regulation</strong> tuning<br />
Now the system is prepared for the position regulation tuning <strong>with</strong> the <strong>Regulation</strong> Tuning Wizard. See Getting<br />
Started document for a step by step instruction.<br />
Edition May 2008 / Subject to change maxon motor control 5
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