CANopen Programmer's Manual - Maccon.de

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4: Control Loop Configuration CANopen Programmer’s Manual The Velocity Loop Overview of the Velocity Loop As shown below, the velocity loop limiting stage accepts a velocity command, applies limits, and passes a limited velocity command to the input filter. The filter then passes a velocity command to the summing junction. The summing junction subtracts the actual velocity, represented by the feedback signal, and produces an error signal. (The velocity loop feedback signal is always from the motor feedback device even when an additional encoder is attached to the load.) The error signal is then processed using the integral and proportional gains to produce a current command. Programmable digital filters are provided on both the input and output command signals. Velocity Command Velocity Limiter Filter Limited Velocity Velocity Loop Velocity Integral Gain (Vi) Velocity Proportional Gain (Vp) Limits: Velocity Acceleration* Feedback (Derived Velocity) Deceleration* Emergency Stop Deceleration* *Not used w hen velocity loop is controlled by position loop. See "Velocity Loop Limits" for details. + - Current Command Velocity Loop Limits The velocity loop starts with a command limiter. This is useful because the position loop may produce large spikes in its output velocity command value that are beyond the safe operating range of the motor. During normal operation, with the velocity loop driven by the position loop, the limiter requires and accepts only a maximum velocity value. Optionally, the velocity loop can be driven by an alternate source of control (such as such as the device’s serial port, digital I/O channels, analog reference, or internal generator), without input from the position loop. (See Alternative Control Sources Overview, p. 225.) In these cases, the velocity loop limiter also requires and accepts maximum acceleration and deceleration values. Velocity limiter parameters are accessed through the following objects: Limiter Object Name/ID Page # Velocity Loop – Maximum Velocity / 0x2103 (used in all control modes) 145 *Velocity Loop Maximum Acceleration / 0x2100 (used only without position loop) 144 *Velocity Loop Maximum Deceleration / 0x2101 (used only without position loop) 145 Velocity Loop Emergency Stop Deceleration / 0x2102 (used only without position loop) 145 *Not used when velocity loop is controlled by position loop. Velocity Loop Input The output of the velocity loop limiter is the input of the velocity loop. It is accessed through the object Limited Velocity (index 0x2230, p. 146). Velocity Loop Gains The velocity loop uses the following gains. See Error! Reference source not found. (index 0x2381, p. 146). Gain Description Vp - Velocity loop proportional The velocity error (the difference between the actual and the limited commanded velocity) is multiplied by this gain. The primary effect of this gain is to increase bandwidth (or decrease the step-response time) as the gain is increased. 132 Copley Controls + + Filter
CANopen Programmer’s Manual 4: Control Loop Configuration Vi - Velocity loop integral The integral of the velocity error is multiplied by this value. Integral gain reduces the velocity error to zero over time. It controls the DC accuracy of the loop, or the flatness of the top of a square wave signal. The error integral is the accumulated sum of the velocity error value over time. Copley Controls 133
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