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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 19.3
edited by Karen
on 2023/05/15 14:27
Change comment: There is no comment for this version
To version 19.2
edited by Karen
on 2023/05/15 14:14
Change comment: There is no comment for this version

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... ... @@ -344,19 +344,16 @@
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 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:
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:
348 348  
349 349  (% style="text-align:center" %)
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 -)))
350 +[[image:20230515-7.png]]
354 354  
355 355  The usage method and conditions of model tracking control:
356 356  
357 357  ~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.
358 358  
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).
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).
360 360  
361 361  3. Set P2-20=1 to enable the function of model tracking control.
362 362  
... ... @@ -366,40 +366,62 @@
366 366  
367 367  **✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes.
368 368  
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
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
377 377  )))|0|0 to 1|When the function code is set to 1, enable the model tracking control function.|
378 378  |P2-21|Model tracking control gain|Shutdown setting|(((
379 -Effective immediately
381 +Effective
382 +
383 +immediately
380 380  )))|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
381 381  |P2-22|Model tracking control gain compensation|Shutdown setting|(((
382 -Effective immediately
386 +Effective
387 +
388 +immediately
383 383  )))|1000|500 to 2000|0.10%
384 384  
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**
391 +|**Function code**|**Name**|(((
392 +**Setting**
393 +
394 +**method**
395 +)))|(((
396 +**Effective**
397 +
398 +**time**
399 +)))|**Default**|**Range**|**Definition**|**Unit**
391 391  |P2-23|Model tracking control forward rotation bias|(((
392 -Operation setting
401 +Operation
402 +
403 +setting
393 393  )))|(((
394 -Effective immediately
405 +Effective
406 +
407 +immediately
395 395  )))|1000|0 to 10000|(% rowspan="2" %)Torque feedforward size in the positive and reverse direction under model tracking control|0.10%
396 396  |P2-24|Model tracking control reverses rotation bias|(((
397 -Operation setting
410 +Operation
411 +
412 +setting
398 398  )))|(((
399 -Effective immediately
414 +Effective
415 +
416 +immediately
400 400  )))|1000|0 to 10000|0.10%
401 401  |P2-25|Model tracking control speed feedforward compensation|Operation setting|(((
402 -Effective immediately
419 +Effective
420 +
421 +immediately
403 403  )))|1000|0 to 10000|The size of the speed feedforward under model tracking control|0.10%
404 404  
405 405  Please refer to the following for an example of the procedure of adjusting servo gain.
... ... @@ -770,6 +770,7 @@
770 770  )))
771 771  
772 772  
792 +
773 773  
774 774  
775 775  == **Model Tracking Control Function** ==
... ... @@ -1218,6 +1218,7 @@
1218 1218  If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
1219 1219  )))
1220 1220  
1241 +
1221 1221  
1222 1222  
1223 1223  = **Mechanical resonance suppression** =