Anca AMD2000 Series Bedienungsanleitung PDF herunterladen (Seite 112)

AMD2000 Series - Servo Drive - User Manual

112 DS619-0-00-0019 - Rev 0 ANCA Motion

The general idea of this technique is to inject d-axis current and repeatedly sweep the commutation angle

through 360 degrees. The frequency of the commutation angle must be fast enough so that the motor does not

begin tracking the rotating magnet field, but slow enough to ensure acceptable convergence of the algorithm.

Given this, the algorithm consists of the following major components:

1. Stimulus generation: generate d-axis current with defined amplitude and frequency;

2. Data acquisition: measure the motor reaction (electrical displacement) as a result of the stimulus;

3. Torque estimation: estimate electrical torque as a function of electrical angle; and

4. Alignment angle offset estimation: estimate the electrical angle offset for optimum torque generation and

efficiency.

Table 10-5 below lists the Acceleration Observer configuration parameters.

Table 10-5 Configuration parameters and default values for Acceleration Observer FOI

IDN

Name

Value

Units

Note

33060

Field Orientation Initialisation

Control

0: none

1: once

2: always

33065

Field Orientation Initialisation

Type

1: DQ Alignment

2: Preset Offset

3: Absolute

4: Acceleration Observer

33900

Stimulus Amplitude

3000

[mA]

33901

Stimulus Frequency

800000

[10

-4

Hz],

33903

Stimulus Repeat Count

33904

Stimulus Time

500

[T1]

33905

Motor Movement Maximum

Deviation

200000

[10

-4

mech rev]

33906

Phase Estimator Correction

[T1]

33910

Torque Estimator Model Type

0: Inertia

1: Compliant

33913

Torque Estimator Model Inertia

[kg.mm^2]

33914

Torque Estimator Model

Stiffness

25600

-8

Nm/mech

rev]

Suggestions for selecting key parameters

 Torque estimator model type:

o For unbraked motors:

 Use inertia model (IDN 33910 = 0) for estimating torque.

 Axis inertia (IDN 33913) does not need to be exact; typically a larger value will ensure

that a suitable torque estimate as a function of stimulus electrical angle is achieved.

o For braked motors:

 Use compliant model (IDN 33910 = 1) for estimating torque.

 Axis stiffness (IDN 33914) does not need to be exact; typically a larger value will

ensure that a suitable torque estimate as a function of stimulus electrical angle is

achieved.

 Stimulus configuration:

o Stimulus amplitude (IDN 33900) should be selected using trial and error. Start with a small

value and then gradually increased in small steps. A large amplitude can result in excessive

vibration and mechanical damage.

o Stimulus frequency (IDN 33901) should be selected using trial and error. Start with a large

value and then gradually reduce in small steps. A small value may result in the motor tracking

the rotating magnet field; resulting in excessive displacement. In short, the stimulus frequency

must be well above the axis position-loop bandwidth.

o Test time = IDN 32904 x IDN 33903 [250us]. For example, if IDN 32904 = 750 and IDN 33903

= 10, then the test time = 1.875 [sec].

Error messages

E414: Acceleration Observer Torque Response Amplitude Low

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