Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -294,6 +294,7 @@ 294 294 (% style="text-align:center" %) 295 295 [[image:image-20220706153656-3.jpeg]] 296 296 297 +Figure 7-5 Position loop gain effect illustration 297 297 298 298 **(4) Torque instruction filter time** 299 299 ... ... @@ -332,6 +332,10 @@ 332 332 333 333 Table 7-9 Speed feedforward parameters 334 334 336 +[[image:image-20220706155307-4.jpeg]] 337 + 338 +Figure 7-6 Speed feedforward parameters effect illustration 339 + 335 335 (% class="table-bordered" %) 336 336 |(% style="text-align:center; vertical-align:middle; width:125px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:330px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:746px" %)**Adjustment description** 337 337 |(% style="text-align:center; vertical-align:middle; width:125px" %)P02-11|(% style="text-align:center; vertical-align:middle; width:330px" %)Torque feedforward gain|(% rowspan="2" style="width:746px" %)Increase the torque feedforward gain because the position deviation can be close to 0 during certain acceleration and deceleration. Under the ideal condition of external disturbance torque not operating, when driving in the trapezoidal speed model, the position deviation can be close to 0 in the entire action interval. In fact, there must be external disturbance torque, so the position deviation cannot be zero. In addition, like the speed feedforward, although the larger the constant of the torque feedforward filter, the smaller the action sound, but the greater the position deviation of the acceleration change point.
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