Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 262)

8.6 Servo Gain Adjustment Functions
8-35
8.6.7 Predictive Control
The Predictive Control function predicts the future error value using the future reference value and mechanical
characteristics in the position control mode. There are two kinds Predictive Control in the SERVOPACK.
1. Predictive Control for Positioning
This control method is used to reduce the settling time.
2. Predictive Control for Locus Tracking
This control method is used to reduce the locus tracking error.
Predictive Control for Positioning operates by anticipating the future position reference in order to perform high-
speed positioning. In contrast, Predictive Control for Locus Tracking follows the actual locus of the position
reference being input.
The adjustment procedure is simple: just enable Predictive Control then the recommended values are calculated
and set based on the position loop gain (Kp) that is set at that time. If necessary, the values can be fine-tuned with
the parameters.
Position
Time
Position reference
(host reference)
Position Response with Predictive Control
Without Predictive Control
With Predictive Control
Time
Position Error
Without Predictive Control With Predictive Control
Position Error Responce with Predictive Control