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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 14.19
edited by Stone Wu
on 2022/07/06 15:54
Change comment: (Autosaved)
To version 14.13
edited by Stone Wu
on 2022/07/06 15:34
Change comment: (Autosaved)

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291 291  
292 292  Table 7-7 Position loop gain parameters
293 293  
294 -(% style="text-align:center" %)
295 -[[image:image-20220706153656-3.jpeg]]
296 -
297 -Figure 7-5 Position loop gain effect illustration
298 -
299 299  **(4) Torque instruction filter time**
300 300  
301 301  Selecting an appropriate torque filter time constant could suppress mechanical resonance. The larger the value of this parameter, the stronger the suppression ability. If the setting value is too large, it will decrease the current loop response frequency and cause needle movement. The related function codes are shown as below.
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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 -
340 340  (% class="table-bordered" %)
341 341  |(% 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**
342 342  |(% 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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