Festo Контроллер позиционирования CPX-CMAX - Manual (Page 374)

B. Basic controlling principles
B−32
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B.7.3 Description of the controller factors for force control
Amplification gain The amplification gain is used to increase or reduce the conĆ
trol amplification.
Ĉ It makes the controller respond to deviations more slowly
or faster. The time up to reaching the static final value
can be optimised.
Ĉ The amplification gain is used to influence path accuracy
over the entire force record.
Ĉ If this factor is increased too much, the valve starts to
hum. This occurs especially with a static force setpoint
and with standstill control.
Behaviour of the axis Factor
Force builds up too slowly, the static accuracy is
reached only hesitantly. Increase
Overswing occurs during force build−up. The valve
tends to hum. Reduce
The force value follows the setpoint value with few
deviations. Optimal
Dynamic amplification Dynamic amplification is only effective in the area of the
force ramp, in other words when the force setpoint changes.
Ĉ It can be used to influence the path accuracy during the
force ramp.
Ĉ A modification does not affect the static accuracy.
Behaviour of the axis Factor
During force build−up the actual value cannot follow
the setpoint value. Increase
During force build−up the actual value runs ahead of
the setpoint value. Reduce
The force build−up is performed fast and accurately. Optimal