參數(shù)資料
型號(hào)： AN-1090
廠商： International Rectifier
英文描述： Controller Dynamics and Tuning
中文描述： 控制器動(dòng)力學(xué)和調(diào)整
文件頁(yè)數(shù)： 6/15頁(yè)
文件大?。?/td> 269K
代理商： AN-1090
15
Speed Controller
The speed controller is the most outer-loop controller in a cascaded speed drive system. Figure 6
shows the cascaded control dynamics of the speed control loop. In practice, the inner current
loop has much higher control bandwidth than the speed controller, therefore for speed control
dynamic purpose, the inner current loop can be ignored as shown in Figure 7. Parameter M
(Figure 7) relates command current digital counts to actual current in Amps. The motor
mechanical dynamic is a first order function with mechanical time constant equals to J/F
(Inertia/Friction). Pole-zero cancellation technique (outlined in current regulator tuning section)
can be used to simplify tuning of the speed controller proportional and integral gains (KpSreg,
KxSreg). In practice, information on mechanical friction (F) is difficult to obtain. In addition,
temperature dependent friction characteristic is present in some applications. Therefore, manual
speed tuning may be required to achieve optimal speed response. Some applications cannot
tolerate high speed regulator bandwidth due to mechanical resonance present in mechanical
arrangement.
www.irf.com
6
KpSreg
1
S
KxSreg
+
+
Filter
-
+
-
+
A
-
+
KpIreg
1
S
S
KxIreg
+
+
1
R (1 + S T)
B
Motor
Controller
V
I
1
Speed
Estimator
Speed
Command
Speed
Regulator
SpdFiltBW
Current
Regulator
Kt
Load
F
1/J
1
S
Speed
+
-
-
J - Inertia
F - Friction
Kt - Torque constant
A, B, C - Conversion Gains
Figure 6. Cascaded Control Dynamics
KpSreg
1
S
KxSreg
+
+
Filter
-
+
-
+
Speed
Command
Speed
Regulator
SpdFiltBW
M
C
Kt
Load
F
1/J
1
S
Speed
-
-
+
J - Inertia
F - Friction
Kt - Torque constant
C, M - Conversion Gains
Motor
controller
Figure 7. Simplified Speed Control Loop Dynamics
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