UAD206A101 3BHE019958R0101工控模块机器人备件
限制速度调节器
在这段时间之后，齿轮箱的齿接合后，轴会发生一些扭曲（如弹簧）。这种运动损失会导致机械不稳定，并限制速度调节器带宽的设置，而不会导致不稳定。惯性自适应检测运动损失，可以实现更高的速度调节器带宽，而不会出现不稳定。68自动化出版物PFLEXRM002DENE2013年8月第1章详细驱动配置和操作配置：有关使用惯性自适应的详细信息，请参阅第129页的调速器调整带齿轮箱或皮带的调速器的高级调整。惯性补偿在速度变化期间，由于负载惯性，需要一定程度的扭矩。该扭矩水平高于用于以恒定速度运行的扭矩。惯性补偿根据加速或减速率计算扭矩。然后，加速或减速扭矩可以被前馈到扭矩控制中，从而实现更平滑的加速和减速，尤其是在高惯性负载下。
计算加速
这成为惯性补偿块用于计算加速或减速率的速度基准，也称为速度相对于时间的导数。通过打开参数151[逻辑命令]，第10位“惯性补偿”启用惯性补偿。参数9[总惯量]在自动调谐期间计算，并与计算的加速度或减速率一起用于计算扭矩加法器。参数57[IntertiaAccelGain]确定加速期间惯性补偿的增益。增益1导致100%补偿。参数58[IntertiaDecelGain]确定减速期间惯性补偿的增益。参数60[DeltaSpeedScale]是惯性补偿块扭矩输出的乘数。它用于中心卷绕和中心放卷应用，以补偿直径增大。
Speed limiting regulator
After this time, when the teeth of the gearbox engage, some twisting of the shaft occurs (e.g. springs). This loss of motion can cause mechanical instability and limit the speed regulator bandwidth setting without causing instability. Inertial adaptive motion loss detection can achieve higher speed regulator bandwidth without instability. 68 Automation publication PFLEXRM002DENE, August 2013, Chapter 1, Detailed Drive Configuration and Operating Configuration: For more information on using inertial adaption, see Governor Adjustment Advanced Adjustment for Governors with Gearboxes or Belts on page 129. Inertia compensation During the speed change, a certain amount of torque is required due to the load inertia. This torque level is higher than the torque used to run at a constant speed. Inertia compensation calculates torque based on acceleration or deceleration rates. Then, the accelerating or decelerating torque can be feedforward to the torque control to achieve smoother acceleration and deceleration, especially under high inertia loads.
Computational acceleration
This becomes the speed reference used by the inertia compensation block to calculate the acceleration or deceleration rate, also known as the derivative of speed with respect to time. By opening parameter 151 [logic command], the 10th bit "inertial compensation" enables inertial compensation. Parameter 9 [Total inertia] is calculated during automatic tuning and used to calculate the torque adder together with the calculated acceleration or deceleration rate. Parameter 57 [IntertiaAccelGain] determines the gain of inertial compensation during acceleration. Gain 1 causes 100% compensation. Parameter 58 [IntertiaDecelGain] determines the gain of inertial compensation during deceleration. Parameter 60 [DeltaSpeedScale] is the multiplier of torque output of inertia compensation block. It is used for center winding and center unwinding applications to compensate for diameter increases.
