Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A7.5 POSITION CONTROLLER PARAMETERS7.5.1 Feed-forward CommandsIn all conventional controllers a torque command can only be produced when avelocity or position lag exists. Usually, an integrator is used to eliminate this lag.However, this method is ineffective for dynamic speed changes and producesdisturbing overshoots.Nevertheless, the torque required from the motor to produce a given degree ofmovement can largely be estimated : even where the inertia load varies, torque canusually be estimated to within 20 percent. Friction loads (dry or sliding), or theinfluence of gravity (on vertical axes), can be calculated or approximated empirically,allowing the load to be "modeled".Modeling consists in knowing the desired position, speed and acceleration at anymoment, and then calculating the required motor torque for this model. As it is appliedas an open loop, this feed-forward control method never produces instabilities.Of course, a real system performs differently from the model. But the positioncontroller only has to correct for the difference between the theoretical torque and theactual system parameters. Since this difference is always the lesser value, positioningerror is reduced accordingly.In each application, the obvious aim is to model as accurately as possible, either bytheoretical calculations or testing. Only afterwards is control coefficient I determined. Inmany cases this coefficient will be zero.38
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A7.5.2 Position ControllerThe ST1 digital motor controller software includes a PID position controller with feedforwardcommands. The position feedback is derived from a resolver mounted at theend of the motor shaft. No tachometer is required. The regulation parameters can beadjusted experimentally or can be premodeled as shown later.bit 41STATAPHI1DPOMA1500KTEGRS 1220SEUIL 1bit 5STATD2PHIRE+(RU)- •VIREF(RU/TU)VIR-2 -16 min.max. DPOS KPOS2 8+• 2 -16 max. DVIT KVIT- •min.2 8-++ +-minmaxCOCOU7FFF2 -16 (32767) +•+FVISC2 8RESTORCOUMALIMTORCOULIM+F0-FFFSECAR (RU/TU 2)INERT2 16 FEXTFigure 7.1 : PID position controller.The position and velocity feedbacks are provided through a resolver todigital converter (1). The set values come from the "host" command orfrom the internal velocity profile generator (2). The position lag (DPOS)and the velocity lag (DVIT) are reversed compared to the usualconventions; a positive value corresponds to an advance.39
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Software for the synchronization of axes - Kollmorgen

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