Nanotec PD2-C Technisches Handbuch Seite 40

5 Generelle Konzepte
w
pos
e
pos
-
x
pos
320E :03
h h
ff
vel
+
y w
pos vel
320E :08
h h
ff
cur
∗
y w
vel cur
320E :0A
h
± w
max_cur
Version: 3.2.0 / FIR-v2139
y = K ∗ (1+ t ⁄ T
act_pos p_pos
320E :01
h
K
p_pos
y
act_vel
e
vel
-
320E :05
h h
± w
max_vel
x
vel
y = K
act_cur
e
cur
-
x
320E
cur
h
K
p_cur
) ∗ e
n_pos pos
PI
320E :02
h h h
T
n_pos
= K ∗ (1+ t ⁄ T
p_vel n_vel
PI
320E :06 320E :07
h h h
K T
p_vel n_vel
∗ (1+ t ⁄ T ) ∗ e
p_cur n_cur cur
PI
:0B 320E :0C
h h h h
T
n_cur
y
pos
) ∗ e
vel
y
vel
h
y w
cur pwm
320E :0F
h h
± w
max_pwm
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