CANopen Programmer's Manual - Maccon.de

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4: Control Loop Configuration CANopen Programmer’s Manual 4.1: Control Loop Configuration Overview Contents of this Section This section provides an overview of the control loops. Topics include: Nested Position, Velocity, and Current Loops ............................................................................................ 129 The Position Loop ...................................................................................................................................... 130 The Velocity Loop ...................................................................................................................................... 132 The Current Loop ....................................................................................................................................... 135 128 Copley Controls
CANopen Programmer’s Manual 4: Control Loop Configuration Nested Position, Velocity, and Current Loops Nesting of Control Loops and Modes Copley Controls amplifiers use up to three nested control loops - current, velocity, and position - to control a motor in three associated operating modes. In position mode, the amplifier uses all three loops. As shown in the typical system illustrated below, the position loop drives the nested velocity loop, which drives the nested current loop. Target Position Trajectory Generator Position Command Position Loop Actual Position Velocity Command Limits Velocity Limiter Limited Velocity FILTER Velocity Loop Derived Velocity Current Command Current Limiter Limited Current Actual Current PWM Command Copley Controls 129 FILTER Current Loop Motor/ Sensors In velocity mode, the velocity loop drives the current loop. In current mode, the current loop is driven directly by external or internal current commands. Basic Attributes of All Control Loops These loops (and servo control loops in general) share several common attributes: Loop Attribute Description Command input Every loop is given a value to which it will attempt to control. For example, the velocity loop receives a velocity command that is the desired motor speed. Limits Limits are set on each loop to protect the motor and/or mechanical system. Feedback The nature of servo control loops is that they receive feedback from the device they are controlling. For example, the position loop uses the actual motor position as feedback. Gains These are constant values that are used in the mathematical equation of the servo loop. The values of these gains can be adjusted during amplifier setup to improve the loop performance. Adjusting these values is often referred to as tuning the loop. Output The loop generates a control signal. This signal can be used as the command signal to another control loop or the input to a power amplifier.
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