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||height="394" id="20230515-7.png" width="931"]] 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 ... ... @@ -361,89 +361,77 @@ 361 361 362 362 5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2. 363 363 367 +(% class="box infomessage" %) 368 +((( 364 364 **✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes. 370 +))) 365 365 366 -|**Function code**|**Name**|((( 367 -**Setting** 372 +(% class="table-bordered" %) 373 +|=(% 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;" %)((( 374 +**Setting method** 375 +)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)((( 376 +**Effective time** 377 +)))|=(% 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** 378 +|=(% 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" %)((( 379 +Shutdown setting 380 +)))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 381 +Effective immediately 382 +)))|(% style="text-align:center; vertical-align:middle; width:103px" %)0|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 1|When the function code is set to 1, enable the model tracking control function.| 383 +|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-21|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control gain|(% style="text-align:center; vertical-align:middle; width:122px" %)((( 384 +Shutdown setting 385 +)))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 386 +Effective immediately 387 +)))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)200 to 20000|(% rowspan="2" style="width:321px" %)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.|(% style="text-align:center; vertical-align:middle" %)0.1/s 388 +|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-22|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control gain compensation|(% style="text-align:center; vertical-align:middle; width:122px" %)((( 389 +Shutdown setting 390 +)))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 391 +Effective immediately 392 +)))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)500 to 2000|(% style="text-align:center; vertical-align:middle" %)0.10% 368 368 369 -**method** 370 -)))|((( 371 -**Effective** 394 +(% class="table-bordered" %) 395 +|=(% 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;" %)((( 396 +**Setting method** 397 +)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)((( 398 +**Effective time** 399 +)))|=(% 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 +|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-23|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control forward rotation bias|((( 401 +Operation setting 402 +)))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 403 +Effective immediately 404 +)))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|(% rowspan="2" %)(% style="width:321px" %)Torque feedforward size in the positive and reverse direction under model tracking control|(% style="text-align:center; vertical-align:middle" %)0.10% 405 +|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-24|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control reverses rotation bias|((( 406 +Operation setting 407 +)))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 408 +Effective immediately 409 +)))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|(% style="text-align:center; vertical-align:middle" %)0.10% 410 +|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-25|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control speed feedforward compensation|Operation setting|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 411 +Effective immediately 412 +)))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|(% style="width:321px" %)The size of the speed feedforward under model tracking control|(% style="text-align:center; vertical-align:middle" %)0.10% 372 372 373 -**time** 374 -)))|**Default**|**Range**|**Definition**|**Unit** 375 -|P2-20|Model tracking control function|Shutdown setting|((( 376 -Effective 377 - 378 -immediately 379 -)))|0|0 to 1|When the function code is set to 1, enable the model tracking control function.| 380 -|P2-21|Model tracking control gain|Shutdown setting|((( 381 -Effective 382 - 383 -immediately 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 -|P2-22|Model tracking control gain compensation|Shutdown setting|((( 386 -Effective 387 - 388 -immediately 389 -)))|1000|500 to 2000|0.10% 390 - 391 -|**Function code**|**Name**|((( 392 -**Setting** 393 - 394 -**method** 395 -)))|((( 396 -**Effective** 397 - 398 -**time** 399 -)))|**Default**|**Range**|**Definition**|**Unit** 400 -|P2-23|Model tracking control forward rotation bias|((( 401 -Operation 402 - 403 -setting 404 -)))|((( 405 -Effective 406 - 407 -immediately 408 -)))|1000|0 to 10000|(% rowspan="2" %)Torque feedforward size in the positive and reverse direction under model tracking control|0.10% 409 -|P2-24|Model tracking control reverses rotation bias|((( 410 -Operation 411 - 412 -setting 413 -)))|((( 414 -Effective 415 - 416 -immediately 417 -)))|1000|0 to 10000|0.10% 418 -|P2-25|Model tracking control speed feedforward compensation|Operation setting|((( 419 -Effective 420 - 421 -immediately 422 -)))|1000|0 to 10000|The size of the speed feedforward under model tracking control|0.10% 423 - 424 424 Please refer to the following for an example of the procedure of adjusting servo gain. 425 425 426 -|**Step**|**Content** 427 -|1|Please try to set the correct load inertia ratio parameter P3-1. 428 -|2|If the automatic adjustment mode is used (P3-3 is set to 0), please set the basic rigidity level parameter P3-2. If in manual adjustment mode (P3-3 is set to 1), please set the gain P2-1~~P2-3 related to the position loop and speed loop and the torque filter time constant P4-4. The setting principle is mainly no vibration and overshoot. 429 -|3|Turn on the model tracking function, set P2-20 to 1. 430 -|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur. 431 -|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2. 432 -|6|When overshoot occurs, or the responses of forward rotation and reverse rotation are different, user can fine-tune through model tracking control forward bias P2-23, model tracking control reverse bias P2-24, model tracking control speed feedforward compensation P2 -25. 416 +(% style="width:1508px" %) 417 +|=(% style="text-align:center; vertical-align:middle; width:80px" %)**Step**|=(% style="text-align:center; vertical-align:middle; width:1420px" %)**Content** 418 +|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)1|Please try to set the correct load inertia ratio parameter P3-1. 419 +|=(% style="text-align:center; vertical-align:middle; width:80px" %)2|If the automatic adjustment mode is used (P3-3 is set to 0), please set the basic rigidity level parameter P3-2. If in manual adjustment mode (P3-3 is set to 1), please set the gain P2-1~~P2-3 related to the position loop and speed loop and the torque filter time constant P4-4. The setting principle is mainly no vibration and overshoot. 420 +|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)3|Turn on the model tracking function, set P2-20 to 1. 421 +|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occurring. 422 +|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2. 423 +|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)6|When overshoot occurs, or the responses of forward rotation and reverse rotation are different, user can fine-tune through model tracking control forward bias P2-23, model tracking control reverse bias P2-24, model tracking control speed feedforward compensation P2 -25. 433 433 434 434 == **Gain switching** == 435 435 436 -Gain switching function: 427 +**Gain switching function:** 437 437 438 -●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration; 429 +● Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration; 439 439 440 -●Switch to a higher gain in the motor stationary state to shorten the positioning time; 431 +● Switch to a higher gain in the motor stationary state to shorten the positioning time; 441 441 442 -●Switch to a higher gain in the motor running state to get better command tracking performance; 433 +● Switch to a higher gain in the motor running state to get better command tracking performance; 443 443 444 -●Switch different gain settings by external signals depending on the load connected. 435 +● Switch different gain settings by external signals depending on the load connected. 445 445 446 - (1)Gain switching parameter setting437 +**Gain switching parameter setting** 447 447 448 448 ①When P02-07=0 449 449 ... ... @@ -450,7 +450,10 @@ 450 450 Fixed use of the first gain (using P02-01~~P02-03), and the switching of P/PI (proportional/proportional integral) control could be realized through DI function 10 (GAIN-SEL, gain switching). 451 451 452 452 (% style="text-align:center" %) 453 -[[image:20230515-8.png]] 444 +((( 445 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 446 +[[image:20230515-8.png||height="378" id="20230515-8.png" width="363"]] 447 +))) 454 454 455 455 ② When P02-07=1 456 456 ... ... @@ -457,41 +457,27 @@ 457 457 The switching conditions can be set through parameter P02-08 to realize switching between the first gain (P02-01~~P02-03) and the second gain (P02-04~~P02-06). 458 458 459 459 (% style="text-align:center" %) 460 -[[image:20230515-9.png]] 454 +((( 455 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 456 +[[**Figure 7-9 Flow chart of gain switching when P02-07=1**>>image:20230515-9.png||id="20230515-9.png"]] 457 +))) 461 461 462 -Figure 7-9 Flow chart of gain switching when P02-07=1 463 - 464 -|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram** 465 -|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~- 466 -|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~- 467 -|(% style="width:72px" %)((( 468 - 469 - 470 - 471 - 472 - 473 - 459 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)**P02-08**|=(% style="text-align: center; vertical-align: middle; width: 238px;" %)**Content**|=(% style="text-align: center; vertical-align: middle; width: 1108px;" %)**Diagram** 460 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)0|(% style="text-align:center; vertical-align:middle" %)Fixed use of the first gain|(% style="width:1108px" %)~-~- 461 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)1|(% style="text-align:center; vertical-align:middle; width:228px" %)Switching with DI|(% style="width:1108px" %)~-~- 462 +|=(% style="text-align:center; vertical-align:middle; width:74px" %)((( 474 474 2 475 -)))|(% style="width:146px" %)((( 476 - 477 - 478 - 479 - 480 - 481 - 464 +)))|(% style="text-align:center; vertical-align:middle; width:238px" %)((( 482 482 Large torque command 483 -)))|[[image:image-20230515140641-1.png]] 484 -|(% style="width:7 2px" %)(((466 +)))|(% style="width:1108px" %)[[image:image-20230515140641-1.png]] 467 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)((( 485 485 486 486 487 487 488 488 489 - 490 - 491 - 492 492 3 493 -)))|(% style="width: 146px" %)Large actual torque|[[image:image-20230515140641-2.png]]494 -|(% style="width:72px" %)((( 473 +)))|(% style="text-align:center; vertical-align:middle; width:228px" %)Large actual torque|(% style="width:1108px" %)[[image:image-20230515140641-2.png]] 474 +|=(% style="text-align:center; vertical-align:middle;width:72px" %)((( 495 495 496 496 497 497 ... ... @@ -499,7 +499,7 @@ 499 499 500 500 501 501 4 502 -)))|(% style="width: 146px" %)(((482 +)))|(% style="width:228px" %)((( 503 503 504 504 505 505 ... ... @@ -507,10 +507,10 @@ 507 507 508 508 509 509 Large speed command 510 -)))|[[image:image-20230515140641-3.png]] 490 +)))|(% style="width:1108px" %)[[image:image-20230515140641-3.png]] 511 511 512 512 |(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram** 513 -|(% style="width:74px" %)((( 493 +|=(% style="width:74px" %)((( 514 514 515 515 516 516 ... ... @@ -529,7 +529,7 @@ 529 529 530 530 [[image:image-20230515140641-4.png]] 531 531 ))) 532 -|(% style="width:74px" %)((( 512 +|=(% style="width:74px" %)((( 533 533 534 534 535 535 ... ... @@ -548,7 +548,7 @@ 548 548 549 549 Speed command change rate is large 550 550 )))|[[image:image-20230515140641-5.png]] 551 -|(% style="width:74px" %)((( 531 +|=(% style="width:74px" %)((( 552 552 553 553 554 554 ... ... @@ -567,7 +567,7 @@ 567 567 568 568 Large position deviation 569 569 )))|[[image:image-20230515140641-6.png]] 570 -|(% style="width:74px" %)((( 550 +|=(% style="width:74px" %)((( 571 571 572 572 573 573 ... ... @@ -583,7 +583,7 @@ 583 583 Position command 584 584 )))|[[image:image-20230515140641-7.png]] 585 585 586 -|(% style="width:73px" %)((( 566 +|=(% style="width:73px" %)((( 587 587 588 588 589 589 ... ... @@ -591,7 +591,7 @@ 591 591 592 592 593 593 9 594 -)))|(% style="width: 154px" %)(((574 +)))|(% style="width:238px" %)((( 595 595 596 596 597 597 ... ... @@ -599,18 +599,18 @@ 599 599 600 600 601 601 Positioning completed 602 -)))|[[image:image-20230515140641-8.png]] 603 -|(% style="width:73px" %)((( 582 +)))|(% style="width:1179px" %)[[image:image-20230515140641-8.png]] 583 +|=(% style="width:73px" %)((( 604 604 605 605 606 606 10 607 607 608 608 609 -)))|(% style="width: 154px" %)(((589 +)))|(% style="width:238px" %)((( 610 610 611 611 612 612 Position command + actual speed 613 -)))|((( 593 +)))|(% style="width:1179px" %)((( 614 614 615 615 616 616 Refer to the chart below ... ... @@ -621,7 +621,7 @@ 621 621 622 622 Figure 7-10 P02-08=10 Position command + actual speed gain description 623 623 624 - (2)Description of related parameters604 +Description of related parameters 625 625 626 626 |(% rowspan="2" style="width:68px" %) 627 627 **P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** ... ... @@ -665,7 +665,7 @@ 665 665 |3|Large actual torque|((( 666 666 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 667 667 668 -In the previous second gain, when the absolute value of actual torque is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned 648 +In the previous second gain, when the absolute value of actual torque is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned. 669 669 670 670 671 671 ))) ... ... @@ -788,10 +788,6 @@ 788 788 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 789 789 ))) 790 790 791 - 792 - 793 - 794 - 795 795 == **Model Tracking Control Function** == 796 796 797 797 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: ... ... @@ -1238,9 +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 - 1243 - 1244 1244 = **Mechanical resonance suppression** = 1245 1245 1246 1246 == Mechanical resonance suppression methods == ... ... @@ -1345,3 +1345,4 @@ 1345 1345 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 1346 1346 1347 1347 Table 7-11 Notch filter function code parameters 1321 +~)~)~)