Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -344,16 +344,19 @@ 344 344 345 345 == **Model Tracking Control Function** == 346 346 347 -Model tracking control is suitable for position control mode, which adds a model loop outside the three loop. In the model loop, new position commands, speed feedforward and torque feedforward and other control quantities are generated according to the user's response requirements to the system and the ideal motor control model. Applying these control quantities to the actual control loop can significantly improve the response performance and positioning performance of the position control, the design block diagram is as follows: 347 +Model tracking control is suitable for position control mode, which adds a model loop outside the three loops. In the model loop, new position commands, speed feedforward and torque feedforward and other control quantities are generated according to the user's response requirements to the system and the ideal motor control model. Applying these control quantities to the actual control loop can significantly improve the response performance and positioning performance of the position control, the design block diagram is as follows: 348 348 349 349 (% style="text-align:center" %) 350 -[[image:20230515-7.png]] 350 +((( 351 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 352 +[[**Figure 7-7 Block Diagram of Model Tracking Control Design**>>image:20230515-7.png||id="20230515-7.png"]] 353 +))) 351 351 352 352 The usage method and conditions of model tracking control: 353 353 354 354 ~1. Correctly set the inertia ratio of the system P3-1, which can be obtained by monitoring the real-time load inertia ratio of U0-20. 355 355 356 -2. Set the load rigidity level P3-2, set an appropriate value, it is not need to set a high rigidity level (recommended value 17~~21 under rigid load).359 +2. Set the load rigidity level P3-2, set an appropriate value, it does not need to set a high rigidity level (recommended value 17~~21 under rigid load). 357 357 358 358 3. Set P2-20=1 to enable the function of model tracking control. 359 359 ... ... @@ -363,62 +363,40 @@ 363 363 364 364 **✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes. 365 365 366 -|**Function code**|**Name**|((( 367 -**Setting** 368 - 369 -**method** 370 -)))|((( 371 -**Effective** 372 - 373 -**time** 374 -)))|**Default**|**Range**|**Definition**|**Unit** 375 -|P2-20|Model tracking control function|Shutdown setting|((( 376 -Effective 377 - 378 -immediately 369 +(% class="table-bordered" %) 370 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 163px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)((( 371 +**Setting method** 372 +)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)((( 373 +**Effective time** 374 +)))|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 321px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit** 375 +|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control function|(% style="text-align:center; vertical-align:middle; width:122px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 376 +Effective immediately 379 379 )))|0|0 to 1|When the function code is set to 1, enable the model tracking control function.| 380 380 |P2-21|Model tracking control gain|Shutdown setting|((( 381 -Effective 382 - 383 -immediately 379 +Effective immediately 384 384 )))|1000|200 to 20000|(% rowspan="2" %)Increasing the model tracking control gain can improve the position response performance of the model loop. If the gain is too high, it may cause overshoot behavior. The gain compensation affects the damping ratio of the model loop, and the damping ratio becomes larger as the gain compensation becomes larger.|0.1/s 385 385 |P2-22|Model tracking control gain compensation|Shutdown setting|((( 386 -Effective 387 - 388 -immediately 382 +Effective immediately 389 389 )))|1000|500 to 2000|0.10% 390 390 391 -|**Function code**|**Name**|((( 392 -**Setting** 393 - 394 -**method** 395 -)))|((( 396 -**Effective** 397 - 398 -**time** 399 -)))|**Default**|**Range**|**Definition**|**Unit** 385 +(% class="table-bordered" %) 386 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 163px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)((( 387 +**Setting method** 388 +)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)((( 389 +**Effective time** 390 +)))|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 321px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit** 400 400 |P2-23|Model tracking control forward rotation bias|((( 401 -Operation 402 - 403 -setting 392 +Operation setting 404 404 )))|((( 405 -Effective 406 - 407 -immediately 394 +Effective immediately 408 408 )))|1000|0 to 10000|(% rowspan="2" %)Torque feedforward size in the positive and reverse direction under model tracking control|0.10% 409 409 |P2-24|Model tracking control reverses rotation bias|((( 410 -Operation 411 - 412 -setting 397 +Operation setting 413 413 )))|((( 414 -Effective 415 - 416 -immediately 399 +Effective immediately 417 417 )))|1000|0 to 10000|0.10% 418 418 |P2-25|Model tracking control speed feedforward compensation|Operation setting|((( 419 -Effective 420 - 421 -immediately 402 +Effective immediately 422 422 )))|1000|0 to 10000|The size of the speed feedforward under model tracking control|0.10% 423 423 424 424 Please refer to the following for an example of the procedure of adjusting servo gain. ... ... @@ -789,7 +789,6 @@ 789 789 ))) 790 790 791 791 792 - 793 793 794 794 795 795 == **Model Tracking Control Function** == ... ... @@ -1238,7 +1238,6 @@ 1238 1238 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 1239 1239 ))) 1240 1240 1241 - 1242 1242 1243 1243 1244 1244 = **Mechanical resonance suppression** =