BENTLY 3500/05-01-03-00-00-00框架
速度環(huán)
速度回路的目的是調(diào)節(jié)電機(jī)速度。與電流和換向回路一樣，速度回路是全數(shù)字的，使用旋轉(zhuǎn)變壓器或編碼器反饋信號(hào)來(lái)計(jì)算實(shí)際值電機(jī)速度。速度回路的命令可以來(lái)自直接用戶輸入（OPMODE=1）
速度回路是一個(gè)在4kHz下工作的數(shù)字采樣系統(tǒng)。
實(shí)際速度和期望速度之間的差異通過(guò)補(bǔ)償器算法過(guò)濾，并反饋至換向回路。帶前饋的SERVOSTAR CD-Lite偽微分反饋（PDFF）。扭矩環(huán)大多數(shù)應(yīng)用程序在扭矩模式配置中使用SERVOSTAR CD-Lite。SERVOSTAR CDLite具有許多內(nèi)部變量，可用于檢查和指示系統(tǒng)操作。其中許多變量及其在MOTIONLINK中的位置在以下討論中以圖形方式顯示：幫助揭示含義和關(guān)系。
模擬轉(zhuǎn)矩
SERVOSTAR CD-Lite通常配置為作為模擬扭矩回路控制器運(yùn)行
（OPMODE=3）。在這種情況下，電流回路從模擬到數(shù)字（A/D）接收其輸入
轉(zhuǎn)換系統(tǒng)。在轉(zhuǎn)換之后，通過(guò)以下算法處理輸入命令信號(hào)：調(diào)整信號(hào)（ANOFF1、ANDB、ANZERO），對(duì)其進(jìn)行濾波（ANLPFHZ）并縮放（ISCALE），然后開(kāi)發(fā)當(dāng)前命令。對(duì)照峰值（IMAX，ILIM）和連續(xù)（折疊特征、ICONT）電流箝位限制。正弦換向調(diào)制被添加到命令中，并饋送到三相電流回路調(diào)節(jié)器，該調(diào)節(jié)器計(jì)算當(dāng)前錯(cuò)誤。該誤差通過(guò)數(shù)字極點(diǎn)配置補(bǔ)償算法進(jìn)行反饋。輸出補(bǔ)償器被轉(zhuǎn)換成PWM信號(hào)并饋送到功率晶體管橋。電橋使用高壓直流總線模塊（典型325 VDC總線）為電機(jī)提供所需電流繞組。實(shí)際電機(jī)電流被更新，過(guò)程再次開(kāi)始。
電流采樣
電流回路從電流采樣電路接收校正反饋。電流傳感器在所有裝置中使用閉環(huán)霍爾采樣技術(shù)。
電流回路使用電流采樣來(lái)調(diào)節(jié)三個(gè)電機(jī)相位中的每個(gè)相位的電流。
微處理器以16kHz的速率對(duì)電流信號(hào)的兩個(gè)相位（A和C）進(jìn)行采樣。這個(gè)通過(guò)檢查IA和IC變量來(lái)監(jiān)測(cè)瞬時(shí)A相電流和C相電流，分別地微處理器計(jì)算等效絕對(duì)電流，該電流可作為I進(jìn)行監(jiān)測(cè)。該值可以對(duì)2、4、8、16、32或64個(gè)樣本進(jìn)行平均。
Torque Loop Most applications use the SERVOSTAR CD-Lite in torque mode configuration. The SERVOSTAR CDLite has many internal variables that can be used to examine and dictate system operation. Many of these variables and their locations in MOTIONLINK are presented graphically in the following discussions to help disclose meanings and relationships. Analog Torque The SERVOSTAR CD-Lite is most often configured to operate as an analog torque loop controller (OPMODE=3). In this case, the current loop receives its input from the analog-to-digital (A/D) conversion system. After conversion, the input command signal is processed through an algorithm that adjusts the signal (ANOFF1, ANDB, ANZERO), filters it (ANLPFHZ) and scales it (ISCALE), before developing the current command. The current (or torque) command is checked against the peak (IMAX, ILIM) and continuous (FoldBack features, ICONT) current clamp limits. Sinusoidal commutation modulation is added to the command and fed to the three-phase current loop regulator, which calculates a current error. This error is fed through a digital pole-placement compensation algorithm. The output of the compensator is converted to a PWM signal and fed to the power transistor bridge. The power bridge uses the high voltage DC BUS Module (325 VDC bus typical) to supply the required current to the motor windings. The actual motor current is updated and the process begins again. Current Sampling The current loop receives corrective feedback from the current sampling circuitry. The current sensors use closed-loop hall sampling techniques in all units. The current sample is used by the current loops to regulate the current in each of the three motor phases. Two phases (A and C) of the current signal are sampled by the microprocessor at a 16 kHz rate. The momentary A phase current and C phase current are monitored by examining the IA and IC variables, respectively. The microprocessor calculates the equivalent absolute current, which can be monitored as I. This value can be averaged for 2, 4, 8, 16, 32, or 64 samples.
