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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 52.3
edited by Karen
on 2023/05/16 11:22
Change comment: There is no comment for this version
To version 52.1
edited by Karen
on 2023/05/16 11:18
Change comment: There is no comment for this version

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... ... @@ -627,10 +627,95 @@
627 627  If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
628 628  )))
629 629  
630 -== ==
630 +== **Model Tracking Control Function** ==
631 631  
632 -== ==
632 +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:
633 633  
634 +(% style="text-align:center" %)
635 +[[image:20230515-7.png]]
636 +
637 +The usage method and conditions of model tracking control:
638 +
639 +~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.
640 +
641 +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).
642 +
643 +3. Set P2-20=1 to enable the function of model tracking control.
644 +
645 +4. Adjust the P2-21 model tracking control gain from small to large, and gradually increase in steps of 1000 until the responsiveness of the system meets the actual demand. The responsiveness of the system is mainly determined by this parameter.
646 +
647 +5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2.
648 +
649 +**✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes.
650 +
651 +|**Function code**|**Name**|(((
652 +**Setting**
653 +
654 +**method**
655 +)))|(((
656 +**Effective**
657 +
658 +**time**
659 +)))|**Default**|**Range**|**Definition**|**Unit**
660 +|P2-20|Model tracking control function|Shutdown setting|(((
661 +Effective
662 +
663 +immediately
664 +)))|0|0 to 1|When the function code is set to 1, enable the model tracking control function.|
665 +|P2-21|Model tracking control gain|Shutdown setting|(((
666 +Effective
667 +
668 +immediately
669 +)))|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
670 +|P2-22|Model tracking control gain compensation|Shutdown setting|(((
671 +Effective
672 +
673 +immediately
674 +)))|1000|500 to 2000|0.10%
675 +
676 +|**Function code**|**Name**|(((
677 +**Setting**
678 +
679 +**method**
680 +)))|(((
681 +**Effective**
682 +
683 +**time**
684 +)))|**Default**|**Range**|**Definition**|**Unit**
685 +|P2-23|Model tracking control forward rotation bias|(((
686 +Operation
687 +
688 +setting
689 +)))|(((
690 +Effective
691 +
692 +immediately
693 +)))|1000|0 to 10000|(% rowspan="2" %)Torque feedforward size in the positive and reverse direction under model tracking control|0.10%
694 +|P2-24|Model tracking control reverses rotation bias|(((
695 +Operation
696 +
697 +setting
698 +)))|(((
699 +Effective
700 +
701 +immediately
702 +)))|1000|0 to 10000|0.10%
703 +|P2-25|Model tracking control speed feedforward compensation|Operation setting|(((
704 +Effective
705 +
706 +immediately
707 +)))|1000|0 to 10000|The size of the speed feedforward under model tracking control|0.10%
708 +
709 +Please refer to the following for an example of the procedure of adjusting servo gain.
710 +
711 +|**Step**|**Content**
712 +|1|Please try to set the correct load inertia ratio parameter P3-1.
713 +|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.
714 +|3|Turn on the model tracking function, set P2-20 to 1.
715 +|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur.
716 +|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.
717 +|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.
718 +
634 634  == **Gain switching** ==
635 635  
636 636  Gain switching function: