Which are the equations of the position/velocity/torque loops?
Problem
I am trying to get a dynamic model of the different motion loops of the Ingenia servo drives but I can't manage to figure out the exact equations of each loop. What are the exact equations and control schemes of each loop and what are the units in which they operate?
Solution
The different equations and control schemes of the different dynamics loops that operate within the firmware inside our drives can be found in the following 4 links:
Related Articles
Tuning of control loops: Position/Velocity Loops
This manual explains how to tune the Position/Velocity loop using the Auto Tuning and how to the verify the tuning result. This manual is written and verified up to the following versions: MotionLab Firmware 2.12.2 2.4.7 Auto-tuning is available ...
How to convert from different motion units for position, velocity and torque
Problem I see that the torque/velocity/position parameters that the firmware of the drive uses can have different units and I don't understand the relationship between the different types nor how to convert from on to another. Where can I find these ...
How to manually execute a profile torque movement by using the registers
In this How-to guide, we will explain how to execute a movement (profile torque) by directly changing the register values, instead of using MotionLab or the dedicated macros for motion. We will consider a movement towards a specific torque in this ...
How DC bus voltage is related to speed and torque in DC, BLDC and BLAC motors?
Three important variables of any driver design are the bus voltage to be used, the maximum torque and speed requested. These variables are not independent and are mutually connected. This means that depending on the provided bus voltage, the maximum ...
Can I read the position from 2 different encoders?
In standard drives from the Ecore line (Pluto, Triton, Neptune, Jupiter, Nix and Titan) there is not the possibility to read the position of 2 different encoders at the same time. Therefore, if you have 2 encoders in your system (one on the motor ...