Moog ACV with CANopen bus interface
7 Servo valve functions
Axis position controller
B99224-DV018-D-211, Rev. A, October 2018
204
7.8.20.1 Object 0x5507: Acceleration feed forward proportional gain
This parameter contains the velocity feed forward gain.
7.8.21 State feedback axis velocity and acceleration derivative elements
To realize a state space controller, the first derivation of the axis position values is necessary. To get a better
signal, the axis position value is filtered with a first order lag element.
Figure 109: State feedback axis velocity and acceleration derivative element
7.8.21.1 Object 0x550C: Actual value filter time constant
This parameter sets the time constant in seconds of the first order lag filter (PT1).
7.8.21.2 Object 0x550B: State feedback axis velocity proportional gain
The first derivation of the axis position value multiplied with this gain will be added to the other parts of the
controller.
Figure 110: State feedback axis velocity proportional gain
DrivePositionControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sis-
tence
Value range
Default
0x5507
1
ProportionalGainKa
FLOAT32
rw
Y
FLOAT32
0.0
<P
o
sA
ctu
al
Va
lue1>
(0x6
601)
#VelF
ee
d
Ba
ck
#
<PosActualFilterTimeConstant>
(0x550C)
DrivePositionControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sis-
tence
Value range
Default
0x550C
1
PosActualFilterTimeConstant
FLOAT32
rw
Y
0.0…+inf
0.0
<ProportionalFeedBackGainKv>
(0x550B)
#V
e
lF
e
ed
Bac
k#
<
V
el
Feed
B
ackOutput>
(0
x5530
)
DrivePositionControl
Index
Sub-index
Parameter name
Data type
Access
Per-
sis-
tence
Value range
Default
0x550B
1
ProportionalFeedBackGainKv
FLOAT32
rw
Y
FLOAT32
0.0
