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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 14.16
edited by Stone Wu
on 2022/07/06 15:44
Change comment: (Autosaved)
To version 14.18
edited by Stone Wu
on 2022/07/06 15:52
Change comment: There is no comment for this version

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333 333  
334 334  Table 7-9 Speed feedforward parameters
335 335  
336 +[[image:image-20220706155307-4.jpeg]]
337 +
338 +Figure 7-6 Speed feedforward parameters effect illustration
339 +
336 336  (% class="table-bordered" %)
337 337  |(% 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**
338 338  |(% 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.
image-20220706155307-4.jpeg
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1 +XWiki.Stone
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