Elmo HARSFEN0602, HARmonica software manual 131, Single feedback mode UM=5

ElmoHARSFEN0602HARmonicaSoftwareManual PRELIMINARYDRAFT

The details the speed and the position controllers are given in the chapter "Error! Reference source not found.".

131

11.5 The single feedback mode: UM=5

The single feedback mode is used when the same sensor is used for speed, commutation and for position. This is common situation where only one position sensor is installed in the system.

The block diagram of the single feedback mode UM=5 is depicted below:

d/dt

Enable if

	RM==1	d/dt	FF[2]
Auxiliary position	Stop		Position
command	manager		Controller
		-
		DV[3]
Software			Position
			correction
position	Smoother
comm and	Σ
Stop and limit
switches
main feedback			Speed
encoder			Estimator

FF[1]

DV[2]

Acceleration feed forward

Speed Error, for the speed controller

-

Figure 23: Dual feedback mode (UM=5)

The position and the speed commands are generated by:

The position software command generator

The position auxiliary command generator

•The position Stop Manager

The generation of the position and speed commands is described in the chapter on "The position reference generator".

The speed command, multiplied by the gain FF[2], is fed as reference to the speed controller in addition to the position correction. When FF[2] is set exactly to unity, there will be no steady state constant-speed tracking error.

The acceleration of the position command, multiplied by FF[1], can be injected directly as torque command. By default, FF[1]=0.

The reference values to the position, speed, and torque controllers can be inquired by DV[3],DV[2], and DV[1] respectively.

The details of the speed and the position controllers are given in the chapter "Error! Reference source not found.".