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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 23.2
edited by Karen
on 2023/05/15 15:04
Change comment: There is no comment for this version
To version 21.2
edited by Karen
on 2023/05/15 14:54
Change comment: There is no comment for this version

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... ... @@ -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;" %)(((
... ... @@ -382,11 +382,11 @@
382 382  )))|(% 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.|
383 383  |=(% 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" %)(((
384 384  Shutdown setting
385 -)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
384 +)))|(((
386 386  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:300px" %)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
386 +)))|(% 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
388 388  
389 -|=(% 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|Shutdown setting|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
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|Shutdown setting|(((
390 390  Effective immediately
391 391  )))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)500 to 2000|(% style="text-align:center; vertical-align:middle" %)0.10%
392 392  
... ... @@ -398,15 +398,15 @@
398 398  )))|=(% 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**
399 399  |=(% 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|(((
400 400  Operation setting
401 -)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
400 +)))|(((
402 402  Effective immediately
403 403  )))|(% 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%
404 404  |=(% 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|(((
405 405  Operation setting
406 -)))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
405 +)))|(((
407 407  Effective immediately
408 -)))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|(% style="text-align:center; vertical-align:middle" %)0.10%
409 -|=(% 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" %)(((
407 +)))|1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|0.10%
408 +|=(% 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|(((
410 410  Effective immediately
411 411  )))|(% 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%
412 412  
... ... @@ -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 -~)~)~)