Two-Way Radio User Manual

5-26
5
5. Manual Gain Tuning (Application)
Adjustment
Feed forward function
Outline
:KHQSRVLWLRQFRQWURORUIXOOFORVHGFRQWUROLVXVHGSRVLWLRQDOGHYLDWLRQFDQEHIXUWKHU
UHGXFHGZKHQFRPSDUHGZLWKGHYLDWLRQZKHUHFRQWUROLVPDGHRQO\E\IHHGEDFNDQG
UHVSRQVHLVDOVRLPSURYHGE\FDOFXODWLQJWKHYHORFLW\FRQWUROFRPPDQGQHFHVVDU\IRU
RSHUDWLRQEDVHGRQWKHLQWHUQDOSRVLWLRQDOFRPPDQGDQGE\DGGLQJYHORFLW\IHHGIRUZDUG
WRWKHVSHHGFRPPDQGFDOFXODWHGE\FRPSDULVRQZLWKSRVLWLRQIHHGEDFN
7KHUHVSRQVHWLPHRIWKHYHORFLW\FRQWUROV\VWHPLVDOVRLPSURYHGE\FDOFXODWLQJWRUTXH
FRPPDQGQHFHVVDU\IRURSHUDWLRQEDVHGRQWKHYHORFLW\FRQWUROFRPPDQGDQGE\DGGLQJ
WRUTXHIHHGIRUZDUGFDOFXODWHGE\FRPSDULVRQZLWKYHORFLW\IHHGEDFNWRWKHWRUTXH
command.
Related
Parameter
)RU$VHULHVWKHYHORFLW\IHHGIRUZDUGDQGWRUTXHIHHGIRUZDUGFDQEHXVHG
Class No. Title Function
110
9HORFLW\IHHGIRUZDUG
gain
0XOWLSO\WKHYHORFLW\FRQWUROFRPPDQGFDOFXODWHG
DFFRUGLQJWRWKHLQWHUQDOSRVLWLRQDOFRPPDQGE\WKH
UDWLRRIWKLVSDUDPHWHUDQGDGGWKHUHVXOWWRWKHVSHHG
FRPPDQGUHVXOWLQJIURPWKHSRVLWLRQDOFRQWUROSURFHVV
111
9HORFLW\IHHGIRUZDUG
ÀOWHU
6HWWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUZKLFKDIIHFWVWKH
LQSXWRIYHORFLW\IHHGIRUZDUG
112
7RUTXHIHHGIRUZDUG
gain
0XOWLSO\WKHWRUTXHFRPPDQGFDOFXODWHGDFFRUGLQJ
WRWKHYHORFLW\FRQWUROFRPPDQGE\WKHUDWLRRIWKLV
SDUDPHWHUDQGDGGWKHUHVXOWWRWKHWRUTXHFRPPDQG
UHVXOWLQJIURPWKHYHORFLW\FRQWUROSURFHVV
113
7RUTXHIHHGIRUZDUG
ÀOWHU
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUZKLFKDIIHFWV
WKHLQSXWRIWRUTXHIHHGIRUZDUG
60
$QDORJWRUTXHIHHG
IRUZDUGFRQYHUVLRQ
gain
6HWWKHLQSXWJDLQRIDQDORJWRUTXHIHHGIRUZDUG
WRDUHLQYDOLG
610
)XQFWLRQH[SDQVLRQ
setup
6HWXSWKHIXQFWLRQLQXQLWRIELW
ELW $QDORJWRUTXHIHHGIRUZDUGLVLQYDOLG
 $QDORJWRUTXHIHHGIRUZDUGLV9DOLG
ELW /6%
Usage example of velocity feed forward
7KHYHORFLW\IHHGIRUZDUGZLOOEHFRPHHIIHFWLYHDVWKHYHORFLW\IHHGIRUZDUGJDLQLV
JUDGXDOO\LQFUHDVHGZLWKWKHYHORFLW\IHHGIRUZDUGÀOWHUVHWDWDSSUR[PV7KH
SRVLWLRQDOGHYLDWLRQGXULQJRSHUDWLRQDWDFRQVWDQWYHORFLW\LVUHGXFHGDVVKRZQLQWKH
HTXDWLRQEHORZLQSURSRUWLRQWRWKHYDOXHRIYHORFLW\IHHGIRUZDUGJDLQ
3RVLWLRQDOGHYLDWLRQ>XQLWRIFRPPDQG@ FRPPDQGVSHHG>XQLWRIFRPPDQGV@
SRVLWLRQDOORRSJDLQ>V@ðYHORFLW\IHHGIRUZDUGJDLQ>@
Command speed
Motor speed
Positional deviation
Velocity feed forward gain
0[%]
50[%]
80[%]
Time
Positional deviation within the
constant speed range will
reduce as the velocity
forward gain is increased.