Instruction Manual

94 运动控制功能原理介绍
频率响应架构图
信号说明表
频率响应形式表
4.2.5.2 使用流程
以下将说明使用流程和注意事项，部分设定须参考波德图相关参数
表 :
Name Symbol Unit Description
Sine wave R pulse The input of closed-loop system.
Error position E pulse The input of open-loop system.
Controller output U pulse The input of plant.
Encoder Y pulse The output of closed-loop system, open-loop
system, and plant.
Type Transfer function T Description
Plant T = Y/U It includes servo motor system
Open-loop T = Y/E It includes PID controller and servo motor
system (Assume feed-forward controller is
disable and bypass Biquad filters)
Closed-loop T = Y/R Total system
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在计算系统频率响应前必须以手动调整 (Manual tuning) 或自动
调整 (Auto tuning) 方式设定控制器，原因在于我们是以全闭路
方式估算频率响应，若设定不正确可能造成伺服电机暴冲现
象。
preliminary