2 operational principle, Operational principle – Festo Контроллеры двигателя SFC-LAC User Manual
Page 27
1. System overview
1−5
Festo GDCP−SFC−LACI−CO−EN en 0812NH
1.1.2
Operational principle
3
4
5
6
7
1
2
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 regulator
Phase current regulation and electrical commutation.
7
Observer
Determines speed and external forces of interference (e.g. friction,
gravity).