Festo Контроллеры двигателя SFC-LAC - Manual (Page 27)

1. System summary
1−5 Festo GDCP−SFC−LACI−DN−EN en 0812NH
1.1.2 Operating principle
3 4 5 6
7
1 2
Observer
State
vector
feedback
Reference
variable
input
Fig. 1/2: Simplified diagram of control structure
No. Block Task
1 Setpoint
generator Generates executable position and velocity curves
2 Reference
variable input Uses desired position, velocity and acceleration curves to calculate a force
curve and from that a current curve, which is then directly input as the
current setpoint value. Permits drive with minimum contouring error.
3 State vector
feedback Controls position and speed
4 PI current
regulator Makes sure that all three strings have the correct current values
5 Output stage The three strings are supplied with current via pulse width modulation
6 Current Control Phase current regulation and electrical commutation
7 Observer Determines speed and external forces of interference (e.g. friction, gravity)