Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
Summary
-
Page properties (1 modified, 0 added, 0 removed)
Details
- Page properties
-
- Content
-
... ... @@ -367,7 +367,6 @@ 367 367 (% class="box infomessage" %) 368 368 ((( 369 369 **✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes. 370 -))) 371 371 372 372 (% class="table-bordered" %) 373 373 |=(% 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;" %)((( ... ... @@ -777,6 +777,8 @@ 777 777 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 778 778 ))) 779 779 779 + 780 + 780 780 == **Model Tracking Control Function** == 781 781 782 782 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: ... ... @@ -1223,6 +1223,8 @@ 1223 1223 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 1224 1224 ))) 1225 1225 1227 + 1228 + 1226 1226 = **Mechanical resonance suppression** = 1227 1227 1228 1228 == Mechanical resonance suppression methods == ... ... @@ -1327,4 +1327,3 @@ 1327 1327 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 1328 1328 1329 1329 Table 7-11 Notch filter function code parameters 1330 -~)~)~)