Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -294,7 +294,6 @@ 294 294 (% style="text-align:center" %) 295 295 [[image:image-20220706153656-3.jpeg]] 296 296 297 -Figure 7-5 Position loop gain effect illustration 298 298 299 299 **(4) Torque instruction filter time** 300 300 ... ... @@ -333,10 +333,6 @@ 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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