Rockwell Automation 21G PowerFlex 750-Series AC Drives Programming Manual - Manual (Page 427)

Rockwell Automation Publication 750-PM001J-EN-P - October 2014 427
PowerFlex 755 Control Block Diagrams Appendix A
Figure 61 - Torque Control - Load Observer / Estimator
1 2 3 4 5 6
B
A
D
C
F
E
H
G
I
76
711
Lo
ad Ob
se
rv
er
BW
LPass
Filter
Total Inertia
Loa
d
Obse
rver
704
2
InAdp LdObs M
o
de
X
LPass
Filter
70
7
Lo
ad
Es
tima
te
10
R/S
0
El
se
0
1 Els
e
Spee
d Sensor Type
Senso
rless
Torque Control –
Load Observer / Estimator
Load Observer / Estimator
Limit
Pos Torque Limit
Torque Limits
Neg Torque
Limit
Notch Filter
Output
Limited Trq Ref
FIR
Filter
Prim
ar
y
E nc
ode
r
Positi
on
Filtered Trq Ref
690
689
Der
ivativ
e
d dt
Drive Status 2
(Fd
bk L
oss
Sw
0)
1 0
M
otor A
ccelerat
ion Fee
dback
1
To
ta
l Ine
rti
a
System
Model
936
5
709
IA Ld
Obs
Delay
FIR
Filter
Alternate En
co
de
r
Pos
ition
Der
ivativ
e
d dt
Veloc
ity
Velocity
A
ccel
Ac
cel
670 67
1
From Fdbk
[3E3]
[23H2]
[2
4a E2], [24b E2]
[3E1]
[2
3G3]
***INTERNAL CONDITION
ONLY***
PF
755 Rev
_10.a
Pag
e 26