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5.1.2 The difference of these adjustment modes
Adjustment modes are divided into adaptive and auto-tuning, and their control algorithms and parameters are
independent. Among them, the auto-tuning mode is divided into three functions: fast adjustment, automatic
adjustment and manual adjustment. The three functions are the same in essence but different in implementation.
Refer to the corresponding chapters of each function.
Mode
Type
Parameters Rigidity
Responsiveness
Related parameters
Adaptive
Automatic
adaptation
P2-01.0=1
middle
150ms
P2-05 adaptive speed loop
gain
P2-10 adaptive speed loop
integral
P2-11 adaptive position loop
gain
P2-07 adaptive inertia ratio
P2-08 adaptive speed
observer gain
P2-12 adaptive stable max
inertia ratio
Auto-tuni
ng
Fast
adjusting
P2-01.0=0
high
10~50ms
P0-07 first inertia ratio
P1-00 speed loop gain
P1-01 speed loop integral
P1-02 position loop gain
P2-35 Torque instruction
filtering time constant 1
P2-49 Model loop gain
Automatic
adjustmen
t
high
10ms
Manual
adjusting
high
Determined by
parameters
5.1.3 Model loop control
In the auto-tuning mode, besides the gain of speed loop and position loop, there is also the gain of model loop,
which has a great influence on the servo responsiveness. When the model loop is not open, the servo
responsiveness is determined by the gain of the position loop, and when the model loop is open, the servo
responsiveness is determined by the gain of the model loop. The model loop is equivalent to feed-forward
function in the driver control loop, and its specific function refers to chapter 5.5 manual adjustment.
When the auto-tuning mode is soft, the function of the model loop will automatically turn off; when the
auto-tuning mode is fast positioning or fast positioning (control overshoot), the function of the model loop will
automatically turn on.
Auto-tuning mode
Parameter
Meaning
Default
setting
Modification Effective
P2-02
n.□□□1
Soft
n.□□□3
At anytime
at once
n.□□□2
Fast positioning
n.□□□3
fast positioning (control overshoot)
Selection of auto-tuning mode:
①
Soft (P2-02.0 = 1):
This method does not turn on the gain of the model ring, and is suitable for the occasion of insufficient
mechanical rigidity and low response requirements.
②
Fast positioning (P2-02.0 = 2):
In this way, the response of setting parameters is the fastest, but there is no special suppression to overshoot.
③
Fast positioning (control overshoot) (P2-02.0 = 3):
