Festo Контроллеры двигателя SFC-LAC - Manual (Page 27)

1. System overview
1−5 Festo GDCP−SFC−LACI−CO−EN en 0812NH
1.1.2 Operational principle
3 4 5 6
7
1 2
Fig. 1/2: Simplified diagram of control structure
No. Block Task
1 Setpoint
generator Generates executable position and velocity curves.
2 Reference variable
input Uses desired position, velocity and acceleration curves to calculate a
force curve and from that a current curve, which is then directly input
as the current setpoint value. Permits drive with minimum contouring
error.
3 State vector
feedback Controls position and speed.
4 PI current
regulator Makes sure that all three strings have the correct current values.
5 Output stage The three strings are supplied with current via pulse width modulation.
6 Current regulator Phase current regulation and electrical commutation.
7 Observer Determines speed and external forces of interference (e.g. friction,
gravity).