Rockwell Automation 9329 Drive Application Software Inertia Comp Imperial Units - Manual (Page 3)

FM – Inertia Compensation
Drive Application Software – page 3 of 28
Table of Contents
1.0 Precautions ............................................................................................................5
2.0 Definitions ..............................................................................................................6
2.1 Conventions..........................................................................................................6
2.2 Normalized Quantities...........................................................................................6
2.3 Terminology ..........................................................................................................7
2.3.1 Web .................................................................................................................................... 7
2.3.2 Strip .................................................................................................................................... 7
2.3.3 Drive ................................................................................................................................... 7
2.3.4 Motor Torque....................................................................................................................... 7
2.3.5 Section................................................................................................................................ 7
3.0 Overview .................................................................................................................8
3.1 Feed Forward........................................................................................................8
3.2 Tension-to-Torque Conversion .............................................................................8
4.0 Functional Description ..........................................................................................9
4.1 Overview...............................................................................................................9
4.1.1 Main Routine ....................................................................................................................... 9
4.1.2 JCalc Routine...................................................................................................................... 9
4.1.3 JLossComp Routine ............................................................................................................ 9
4.2 Main routine ..........................................................................................................9
4.3 JCalc Routine......................................................................................................10
4.3.1 JEC_lbft2 ...........................................................................................................................10
4.3.2 Density_lbft3 ......................................................................................................................10
4.3.3 BuildUpRatio ......................................................................................................................10
4.3.4 Constant_RPMperFPM.......................................................................................................11
4.3.5 Width_in.............................................................................................................................11
4.3.6 GearRatio...........................................................................................................................11
4.3.7 MtrSpdBase_RPM..............................................................................................................11
4.3.8 MtrTrqRated_lbft ................................................................................................................11
4.3.9 WeightRoll_lb.....................................................................................................................11
4.3.10 JRoll_lbft2 ..........................................................................................................................11
4.3.11 J_lbft2 ................................................................................................................................11
4.3.12 J_sec .................................................................................................................................11
4.3.13 J_PU ..................................................................................................................................11
4.4 JLossComp Routine............................................................................................12
4.4.1 LineSpdRf_FPM.................................................................................................................14
4.4.2 LineSpdRfRate_FPM..........................................................................................................14
4.4.3 JDiffEnbl.............................................................................................................................14
4.4.4 JDiffSamples ......................................................................................................................14
4.4.5 BuildUpRatio ......................................................................................................................14
4.4.6 Constant_RPMperFPM.......................................................................................................14
4.4.7 J_sec .................................................................................................................................14
4.4.8 JGainQuad1Quad2.............................................................................................................15
4.4.9 JGainQuad3Quad4.............................................................................................................15
4.4.10 Friction_Pct ........................................................................................................................15
4.4.11 Windage_PctRPM ..............................................................................................................15
4.4.12 MtrTrqRated_lbft ................................................................................................................15