Yaskawa Output 4.4AMPS SERVO PACK Industrial Servo Drives 750Watt
SGDE-08AP
Quick Details
SGDA08AP
SGDA08AP
SERVO DRIVE
7500W
11.0AMP
50/60HZ
AMPLIFIER
SIGMA
200V
POSITION
AVAILABLE
REBUILT SURPLUS
NEVER USED SURPLUS
REPAIR YOURS
24-48 HOUR RUSH REPAIR
2 - 15 DAY REPAIR
2 YEAR RADWELL WARRANTY
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Feedforward control goes a long way towards reducing settling times
and minimizing overshoot; however, there are several of assumptions
that ultimately limit its effectiveness. For example, servo
amplifiers all have current limits and finite respons e times. For
motion bandwidths in the sub 50 Hz range, the current loops can be
safely ignored; however, as the need to push the motion bandwidths
higher, the current loops ne ed to be accounted for as well. In
addition, the single most limiting factor in servo motion control
is the resolution and accuracy of the feedback device.
Lowresolution encoders contribute to poor velocity estimations that
lead to either limit cycling or velocity ripple problems. Finally,
compliant couplers that connect the load to the servomotor must
also be accounted for as they too limit the useable motion
bandwidths.
In summary, disturbance rejection control can be obtained by one of
a number of ways, the two most common are P.I.D. and P.I.V.
control. The direct use of P.I.D. control can often meet
lowperformance
motion control loops and are generally set by either the Ziegler
Nichols or by trialand-error methods. Overshoot and rise times are
tightly coupled, making gain adjustments difficult. P.I.V. control,
on the other hand, provides a method to significantly decouple the
overshoot and rise time, allowing for easy set up and very high
disturbance rejection characteristics. Finally, feedforward control
is needed in addition to disturbance rejection control to minimize
the tracking error.
One obvious way to increase the Xux density is to increase the
current in the coil, or to add more turns. We Wnd that if we double
the current, or a b
Figure 1.6 Multi-turn cylindrical coil and pattern of magnetic Xux
produced by current in the coil. (For the sake of clarity, only the
outline of the coil is shown on the right.)
Electric Motors 9 the number of turns, we double the total Xux,
thereby doubling the Xux density everywhere.
We quantify the ability of the coil to produce Xux in terms of its
magnetomotive force (MMF). The MMF of the coil is simply the
product of the number of turns (N) and the current (I), and is thus
expressed in ampere-turns. A given MMF can be obtained with a large
number of turns of thin wire carrying a low current, or a few turns
of thick wire carrying a high current: as long as the product NI is
constant,
the MMF is the same.
Electric circuit analogy
We have seen that the magnetic Xux which is set up is proportional
to the MMF driving it. This points to a parallel with the electric
circuit, where the current (amps) that Xows is proportional to the
EMF (volts) driving it.
In the electric circuit, current and EMF are related by Ohm’s Law,
which is Current ¼ EMF
Resistance i:e: I ¼ V R (1:3)
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