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Two-input control with independent proportional and integral gains for velocity error and velocity feedforward including velocity command limiting
Two-input control with independent proportional and integral gains for velocity error and velocity feedforward including velocity command limiting
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机译：带有独立比例和积分增益的双输入控制，用于速度误差和速度前馈，包括速度指令限制
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摘要
A method for control of servomotors includes limiting velocity feedforward as a second input to a velocity control loop in response to a velocity command, which is a first input, reaching a predetermined limit. Gain parameters for proportional and integral portions of a velocity- torque control loop and for the proportional and integral portions of the velocity feedforward loop may be adjusted independently to obtain varying control responses from the control system. The method is carried out in a microcomputer-based control module for an industrial controller.
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