Elmomc SimplIQ Digital Servo Drives-Bell Getting Started Instrukcja Użytkownika Pobierz pdf (Strona 87)

The SimplIQ for Steppers Getting Started & Tuning and Commissioning Guide

MAN-BELGS (Ver. 1.1)

Suppose that in the system of Figure 79 the motor is brought abruptly to some

constant torque. Initially the load will not react. This is because the axis must be

deformed in order to convey torque to the load. When the load finally moves, its

acceleration will oscillate. The oscillations in the load will induce oscillations in

the motor, as shown in Figure 80 for a step command. This oscillation

phenomenon is called Resonance.

0 2 4 6 8 10

0.3

0.6

0.9

1.2

1.5

1.8

time

Figure 80: Typical response of an oscillating system to torque step

Mathematically, the following equations describe the system:

()

MLLMMLLML

LMMMMM

DLLLLLL

dncnT

iKT

nTBTJ

TBTJ

θ−θ+θ−θ=

−θ−=θ

+θ−=θ

&&&

(10)

where,

is the load inertia,

load angle,

load torque,

load viscous

friction,

disturbance moment on the load,

motor inertia,

motor shaft

angle,

motor torque,

motor shaft viscous friction,

gear ratio,

motor

current,

motor e.m.f. constant,

transmission spring factor and

the

transmission damping factor. Equations (10) where

is neglected, is

schematically described in Figure 81.

1 2 ... 82 83 84 85 86 87 88 89 90 91 92 93 94

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Elmomc SimplIQ Digital Servo Drives-Bell Getting Started Instrukcja Użytkownika Strona 87

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