Classifications

• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B21/00—Systems involving sampling of the variable controlled
  • G05B21/02—Systems involving sampling of the variable controlled electric
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B11/00—Automatic controllers
  • G05B11/01—Automatic controllers electric
  • G05B11/26—Automatic controllers electric in which the output signal is a pulse-train
  • G05B11/28—Automatic controllers electric in which the output signal is a pulse-train using pulse-height modulation; using pulse-width modulation
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B11/00—Automatic controllers
  • G05B11/01—Automatic controllers electric
  • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
  • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.

Definitions

• the invention relates to a control method, in particular a current control method for inductive loads, such. B. servomotors.
• the control method is characterized by a two- or multi-channel evaluation of the controlled variable, with which a fast and accurate control can be realized.
• the realized before ⁇ preferably using the pulse width modulation Regge ⁇ tion has a high noise suppression and at the same time a high bandwidth.
• the invention also relates to a ent ⁇ speaking control device with a two- or multichannelled gen recirculation.
• control systems are implemented almost exclusively by circuitry. This applies especially to more complex control systems.
• the spectrum of these control systems ranging from simple analog control scarf ⁇ obligations to digital controllers.
• a digital control algorithm can also be used in Form of a program can be realized, which runs on a micro ⁇ processor or in a programmable device (FPGA). Due to the digital signal processing and the associated modifiability, the digital controller is particularly well suited for more complex control tasks, which require particularly high accuracy and precisely reproducible parameters.
• a typical continuous regulator is an analog regulator. Since the analog control algorithm can react to changes in the input quantity practically without delays and can apply a corresponding output variable to its output, the input and output variables of this type of regulator characteristically consist of continuous signals.
• a digital controller is a sampling controller. Its transfer function is realized by a series of arithmetic operations, which are performed one after the other. Due to the required computing time for the digital crizal ⁇ rithm a time lag between the detection of the input quantity and outputting the output value.
• the controlled variable is not kontinuier ⁇ Lich, but detected only at specific sampling instants. Consequently, the digital sample provides discontinuous, time-discrete signals, the signal magnitude being present only at discrete times.
• the time between two successive sampling instants folic constricting determines the sample ⁇ rate or the sampling frequency f A.
• a high sampling rate is necessary to capture higher-frequency signal components of the crizgrö ⁇ SSE.
• the upper limit of the sampling rate which characterizes a digital controller is determined primarily by the computing time required for the computing algorithm. It thus depends on the computing speed of the microprocessor, microcontroller or FPGA used.
• a typical controller combination provides z.
• This type of controller includes a proportional controller and an integral integral integral controller. While the proportional element multiplies the input value by a fixed factor, the integral element performs a programmable time integration of the system deviation.
• the relatively fast proportional controller forms a good supplement to the integral controller, which is particularly responsive to longer-lasting control deviations. Since the PI controller combines the control properties of its two components, he can both respond relatively quickly to changes in the control or reference variable as even small static Regelabwei ⁇ tions stationary zero. Such a control behavior is desired in many technical applications, which is sometimes the reason for the widespread use of this type of regulator.
• a very important field of application of the PI controller is the current control of electric drives.
• Such drives have as a central component an electric motor, which converts as an energy converter supplied thereto electric power in me ⁇ chanical energy.
• the mechanical energy is provided by a rotary motor as a rotary motion on a motor shaft, while a linear motor provides this as translation on a movable slide.
• the electric drive has a flow control device, which forms a central control loop of a drive control.
• a PI controller current control device By means of the preferably based on a PI controller current control device, the current flowing through the motor winding and thus the mechanical energy emitted by the electric motor is directly influenced.
• a setting device To portion supplied to the gate Elektromo ⁇ electric power, a setting device is used. With their help, it is possible to adjust the forces acting on the motor shaft or on the snowmobile in accordance with the specification of the PI controller.
• Stellerie modern electrical drives use power semiconductors, such. B. power transistors, via which the electrical power supply to the engine can be switched on and off.
• Position-controlled drives and in particular servo drives used in the indus ⁇ -industrial manufacturing require a very accurate current control in order to control the torque and the power and the resulting movement of the servomotor PR ⁇ ZI ⁇ se.
• a fast and accurate current control is also required for a high rigidity of the drive and high loop gains of a superimposed speed control loop.
• Precise current control also allows for efficient use of pilot controls. Possibly on ⁇ passing current or torque errors must then not only be compensated by the slower speed controller.
• the speed and the accuracy of the actual value acquisition is an extremely important egg ⁇ genschaft the control loop.
• different measuring methods can be used to record the actual value of the controlled variable can be used, with the individual measuring methods sometimes differing significantly in terms of their accuracy and speed.
• the controlled variable can also be detected discontinuously by means of a scanning process. Especially with digital controllers, the sampling of the controlled variable with a predetermined by the operating clock of the controller sampling frequency is common.
• the registers can be gel size bandbe ⁇ borders using an anti-aliasing low-pass filter. In this case, high-frequency components of the measurement signal are filtered out. However, due to the associated phase shift, this method is not suitable for every application.
• the higher-frequency components can also be determined by averaging the measured values over a suitable
• Period are suppressed.
• a pulse modulation such.
• PWM pulse width modulation
• the controlled variable may also be sampled synchronously with the pulse modulation.
• this measurement method is dependent on the existence and the knowledge of certain harmonic-free times of the controlled variable, which makes them very vulnerable to disturbances.
• the present invention seeks to provide a current control that combines the advantages of several measurement methods together, without, however, having the disadvantages of the individual methods.
• This object is achieved by a control method according to claim 1, a control device according to claim 12 and a control system according to claim 26. Further advantageous embodiments of the invention are specified in the dependent claims.
• a control method in which a first feedback quantity is determined by sampling a control variable at a certain sampling frequency, the actual value of the controlled variable is detected every predetermined by the Abtastfre acid sequence time and provided as first return ⁇ size available , A first control deviation is then determined by comparing the first feedback variable with a reference variable. With the aid of a first controller, a first individual controller output variable is then formed from the first control deviation. Furthermore, a second feedback variable is determined by averaging the controlled variable over a period of time, wherein the actual value of the controlled variable z. B. over the entire sampling cycle and an average value of the detected during this period actual values is formed, which is provided as the second feedback variable.
• a second control deviation is determined by a comparison of the second feedback variable with the reference variable. From the second control deviation thus formed, a second single controller output variable is formed. Finally, from the sum of the two individual controller output variables, a controller output variable is formed, which is used to set the controlled variable, so that the controlled variable follows the reference variable.
• the first individual controller output variable is formed by means of a proportional controller.
• the second individual controller output variable should be formed from the second crizabwei ⁇ chung using an integral controller.
• a proportional controller as the first controller, this fast controller type provides the current first control deviation obtained by sampling.
• the second controller has a very accurate value for the system deviation.
• the accuracy of this type of controller can be further increased.
• An advantageous embodiment of the invention provides that the second feedback variable by integrating the actual value of the controlled variable over the period, such. B. a PWM switching period, is determined.
• the integration allows a particularly fast averaging, which is also relatively easy to implement.
• the controlled variable is adjusted by means of a clocked with a switching frequency manipulated variable.
• the sampling of the controlled variable with twice the switching frequency.
• the mean value of the controlled variable over a period is formed, the one by the switching frequency of the manipulated variable corresponds to predetermined switching period.
• Both methods are ge ⁇ suitable to minimize such measurement errors that occur due to the resultant from the timing of the manipulated variable in the control variable harmonics. It is advantageous if the scanning of the controlled variable takes place synchronously with the clock signal, with the aid of which the manipulated variable is clocked. This makes it particularly easy to perform the sampling at times that are harmonic free. This in turn allows more accurate measurements.
• a further advantageous embodiment of the invention provides that the timing of the manipulated variable by means of a Pulsweitenmo ⁇ modulation takes place.
• the pulse width modulation is particularly well suited for setting a manipulated variable, such. B. the motor voltage.
• the fixed switching frequency typically used for pulse width modulation allows with the above measures a particularly accurate measurement of the controlled variable. Since the pulse width modulation is always working with a limited number of switching states, the actuator and thus the per ⁇ stays awhile control system can be rea ⁇ larra particularly simple and cost by the use of a pulse width modulator.
• the controlled variable is controlled by means of a digital ⁇ controller.
• This type of controller allows a very ge ⁇ precise control and can be optimally adjusted due to its modifiability of the application.
• the algorithm for scanning or for integrating the control variable can be implemented in handelsübli ⁇ chen programmable logic devices inexpensive.
• An advantageous embodiment of the invention provides that is regulated as a controlled variable, the current of a load. Since control accuracy is an essential feature in many power control applications, the invention is capable of Particularly easy a suitable flow control device can be reali ⁇ Siert. This is the case, for example, with current regulators for electrical drives. Since, in particular servomotors require a particularly precise current control, can be using the control device according to the invention particularly cost-effective reali ⁇ sieren a fast and accurate servo control.
• fertil a control device comprises a measuring device comprising a first feedback signal by sampling the controlled variable ermit ⁇ telt by the actual value of the controlled variable is detected in each case to a value determined by the sampling time, and provided the first feedback variable. Further, the measuring device determines a second feedback variable by means of re ⁇ gel size by the actual value of the controlled variable detected by a time ⁇ space, averaged and the averaged value is provided as a second feedback variable. Furthermore, the control device has a comparison device with a first and a second comparison element. Each of the two comparison ⁇ members receives via a separate channel in each case a feedback variable and forms from it by a comparison with a reference variable each have their own control deviation.
• the control device further comprises a control device having a first and a second controller, wherein the first controller from the first control deviation forms a first Einzelregleraus ⁇ gangs vigorous and the second controller from the second crizabwei ⁇ chung a second Einzelreglerausgangsucc.
• a Sum ⁇ mean device of the control device forms from the two Einzelreglerausgangs hinn a common Reglerausgangsgrö ⁇ size, which uses an adjusting device for setting the controlled variable.
• the measuring device comprises an integrating device in order to form the averaged actual value by integrating the controlled variable over the period of time.
• Fig. 1 is a block diagram of a control loop for current control passage ⁇ lung load using a PI controller and a Pulswei ⁇ width modulation
• Fig. 2 a temporal voltage / current curve for a using the pulse width modulation realized current control
• Fig. 3 shows a temporal voltage / current curve 4 shows a temporal voltage / current profile during a current measurement by integration over a period of the switching frequency
• Fig. 6A is a block diagram of a new current controller with ei ⁇ ner two-channel current feedback
• FIG. 6B is a block diagram of a new current regulator with egg ⁇ ner three-channel current feedback
• Fig. 7 is a block diagram of a new flow control device for a servomotor
• Fig. 8 is a block diagram of a current regulator for a rotary ⁇ current motor, in which two different current components are detected and controlled independently
• Fig. 9 is a block diagram of a control system with a flow control device superimposed speed control device.
• the controlled variable x the current i a load, in particular an inductive load such. B. an electric motor regulated.
• the control device 1 comprises a plurality of interacting components forming a closed loop.
• a reference variable w of the current control device 1 is a current setpoint x so ii, the z. B. is provided by a parent speed control circuit 2.
• a comparator 20, which forms the input ⁇ range of the control device 1 compares the current setpoint Xsoii with a current actual value x of the lst torwicklung current flowing through the current Mo x.
• the actual current value is detected using x ist a measuring device 10 and supplied to the comparison ⁇ member 20 as a feedback variable r via a feedback channel.
• the formed by the comparator 20 comprises a control device 30 provides overall available, using their Kochtra ⁇ cleaning function forms a controller output variable m from the control deviation e.
• the controller ⁇ output variable m is used to control an adjusting device 50.
• a PI controller is used in the rule, the control behavior of the respective application is reasonable fit.
• Each of the two individual controller forms from the gang present at its input an input variable e own single controller model ⁇ output variable.
• the two individual controller output variables are then summed to form a common control output variable m, which is fed to an actuating device 50.
• the adjusting device 50 comprises a pulse width modulator, in this case to set the predetermined by the controller output variable m value for the motor voltage in a pulse width modulated control signal switch ⁇ .
• the control signal is used to control circuit breakers of a controller, whereby a clocking of the voltage applied to the motor winding voltage is achieved.
• the resulting motor current x is smoothed by the integrie ⁇ effect of the motor winding L.
• FIG. 1 illustrates, various Interference for acting on the controlled system and so x adversely affect the rule ⁇ size stream.
• FIG. 2 shows the principal voltage and current profile of an electric motor in the case of pulse width modulation
• PWM pulse width modulation
• the motor or coil voltage is predetermined by the pulse width modulation in discrete-time form. It is typical for this actuation method that the width of the individual PWM pulses is directly correlated with the time evolution of the input values of the pulse width modulator and the voltage change takes place in the raster of a time interval T 3 predetermined by a switching frequency f s of the pulse width modulation.
• the drive voltage generated in this way has a nearly rectangular profile with only two voltage levels.
• the pulse width modulation usually uses constant frequencies, such. 4 kHz, 8 kHz or 16 kHz.
• the PWM carrier signal used in the present case is a triangular voltage. Due to the smoothing effect of the motor winding L, the coil current x follows the coil voltage only very slowly. This results in a sawtooth-like current profile, wherein the coil current with the switching frequency T 3 of the pulse width modulation oscillates around the mean back and forth. As harmonic of the coil current x-looking pen ⁇ delterrorism the coil current can lead to a significant distortion of the solution due to possible Abtastmes- Alia- sing-effects. An erroneous measurement ultimately results in a poorer control behavior of the current control loop 1, in particular with regard to accuracy, and thus also of the higher-level speed control loop 2.
• the higher frequency components of the Spu ⁇ lenstroms can be eliminated.
• the use of a first order anti-aliasing low-pass filter causes a Pha ⁇ senverschiebung of up to 90 °, by which the phase margin of the control loop and thus the maximum possible loop gain ⁇ is significantly reduced. This makes this measuring method ⁇ especially for industrial practice less suitable.
• Another measuring method for the exact detection of the actual value x lst of the controlled variable current x represents the averaging.
• Me- also used in digital multimeters B. Thode the measured value is construed x ER- over a suitable period of time and a mean value of the detected measured values gebil ⁇ det.
• the acquisition of the measured value can be done both continuously and by means of fast sampling.
• a PWM switching period T 3 is possible when using the pulse width modulation.
• Such an averaging over a PWM switching period T 5 is shown in FIG. Since the temporal evolution of the current ⁇ strength x of the servomotor can be described using a steady function ⁇ on the determination of the mean value of the actual current x ls t can be done by an integration over a PWM period T 3:
• the area formed by the integration below the current curve is proportional to the mean current actual value x int i n of the PWM period T 5 .
• the surface integral is divided by the integration time in ⁇ T3.
• this measuring method ⁇ DERS typically cancel out fluctuations of the measurement signal in the averaging each other, this measuring method ⁇ DERS particular insensitive to disturbances which are caused for example by switching operations or by EMC.
• DA ago is suitable in principle for all pulse modulation information model applicable metering very good for use in industrial practice, especially when precise control is required.
• a particularly rapid possibility for measuring the current actual value x lst is the scanning of the controlled variable x at specific times ti, t 2 , t 3 , t 4 .
• those points in time ti, t 2, t 3, t 4 is selected, in which the controlled variable is essentially equal to the mean.
• this presupposes that such harmonic-free times ti, t 2 , t 3 , t 4 exist at all. In addition, they must also be known.
• the harmonic-free time points substantially coincide with the times ti, t 2 , t 3 predetermined by the PWM clock signal. t 4 match. Therefore, in such a case, the controlled variable x can be sampled synchronously with the PWM clock signal, that is, at the times when the triangular PWM carrier signal has a reversal point.
• the sampling frequency f A thereby is preferably twice the switching frequency f s ge ⁇ selects:
• the scanning measurement of the controlled variable x is basically a very fast method of measurement is. It is therefore suitable in particular ⁇ sondere for a quick settlement, especially since no additional dead time limits the bandwidth of the control loop. For this reason, this measuring method is often used in industrial practice. However, high-frequency noise or inaccurate sampling can greatly affect the measurement result. Furthermore, this method requires a suitable PWM method or another suitable pulse modulation method for the motor current, in which harmonic-free times are known or at least can be estimated.
• FIG. 6A shows a block diagram of a subregion of the current control circuit 1 according to the invention with a comparison device 20 comprising two comparison elements 21, 22, a control device 30 preferably comprising a PI regulator, and a summing device 40.
• the PI controller is in a P control element 32 and a parallel-connected I-control element 31 divided, wherein the P-control element 31 ers ⁇ tes comparison element 21 and the I-control element 32, a second comparison element 22 is assigned.
• Each of the two comparison elements 21, 22 has its own feedback channel, via which the corresponding comparison element 21, 22 receives a feedback variable ri, r 2 from a measuring device 10.
• the feedback variables r lf r 2 are two different current actual values, which were determined with different measuring methods. In principle, any suitable measuring method can be used to record the current actual value. In addition to a direct measurement of the drive current, this can also be derived from certain operating variables as an alternative.
• the two measuring methods are preferably selected so that the actual values thus determined are optimized for the respective controller type.
• Each of the two comparators 21, 22 compares its associated feedback variable ri, r 2 with the voltage applied to a ge ⁇ common input command variable w, and outputs the result of this comparison a control deviation ei, e 2 to the respectively associated therewith regulating member 31, 32 from.
• the two Re ⁇ gelglieder 31, 32 form ei using their respective transfer function from the control deviations supplied thereto, e 2 are each an individual controller output variable mi, m 2.
• the individual ⁇ controller output sizes mi, m 2 are then passed on to an overall my same adder 40, which forms from ei ⁇ ne controller output variable m.
• the Reg ⁇ lerausgangs grasp m is formed by a simple addition of the two individual controller output variables m i, m 2.
• any operations such. B. a weighting of the Einzelreglerausgangs hinn mi, m 2 with different factors, are made to the combined controller output ⁇ size m from two Einzelreglerausgangs hinn mi, m 2 to bil the.
• the combined controller output variable m of crizeinrich ⁇ tung 30 is then an actuating device 50 as an input variable to adjust the controlled variable x.
• the control device 30 shown in FIG. 6A may in principle also comprise further control elements.
• a third control element 33 for example a differential (D) element with a differentiation coefficient K D or derivative time T v
• the to-additional control element 33 can in this case one of the already vorlie ⁇ constricting deviations egg, use e 2 as input.
• a further feedback variable r 3 can be a current actual value determined using a third measuring method.
• the output variable of the third control element 33 can be supplied to the common summing device 40 as a third individual controller output variable m 3, which forms the controller output variable m from all three individual controller output variables mi, m 2 , m 3 .
• Such a control device 30 is shown in FIG. 6B.
• the third feedback variable r 3 can also be selected to be identical to zero. In this case, only the reference variable w is differentiated by the control element 33. This results in an advantageous embodiment of the embodiment shown in FIG. 6B. In this case, the control loop 1 can react particularly quickly to changes in the reference variable w.
• FIG. 7 shows a block diagram of a control device 1 according to the invention with the control device 30 from FIG. 6A, which has a two-channel feedback.
• the preferably formed for controlling the flow of an electric motor control ⁇ device 1 further comprises a measuring device 10 by means of which the actual value of the controlled variable motor current is detected.
• the measuring device 10 picks up the current x of the electric motor 60 at a suitable point on the controlled system.
• the measuring device 10 is designed to detect the actual current value x actual with the aid of two different measuring methods and to pass on the measurement results of the two measurements to the comparison device 20 as a feedback variable ri, r 2 via the two separate feedback channels.
• the measuring device 10 comprises two sub-units, which are schematically embodied here as a scanning device 11 and an integrating device 12.
• the scanning device 11 determines the first feedback variable ri ⁇ size by scanning the rule x with a predetermined sampling frequency f A.
• the Abtas ⁇ tion is preferably carried out in synchronism with the Pulsweitenmo ⁇ dulation, with the aid of which the drive voltage of a power output stage 52 is formed for the motor current x.
• the double PWM switching frequency f s is preferably selected as the sampling frequency f A. 12, however, determines the integrator, the second feedback variable r 2 by a center ⁇ value formation of the controlled variable x. This is preferably done by integrating the controlled variable x via a PWM cycle T 5 .
• the algorithms for sampling and integration of the controlled variable x can be realized both as two structurally separate devices 11, 12 and as a common device of the measuring device 10.
• a digital controller 1 also all analog present signals such.
• the controlled variable x be digitized before they wei ⁇ ter can be processed.
• the Messein ⁇ device 10 comprises a suitable digitizer 13.
• the algorithm for sampling or for the integration of the measured variable x also cost in commercially available programmable semiconductor devices, such as.
• FPGAs field programmable gate array
• the controller output variable m is available at the input of the actuating device 50.
• the adjusting device 50 in this case comprises an actuator 51 and an actuator 52.
• the actuator 51 sets the predetermined by the regulator exit ⁇ output variable value m in a manipulated variable y for the actuator 52 in order.
• the controller output variable digital ahead ⁇ is m using a Puls shimmerenmodu ⁇ lators set 51 in a pulse width modulated voltage signal y environmentally with which the actuator is driven 52nd
• the typi ⁇ cal actuator 52 includes circuit breakers that are operated only in two characteristic points (blocking or connected). Based on the pulse width modulated manipulated variable y of the Stel ⁇ ler 52 performs a clocking of the motor current x.
• the control device shown in FIG. 7 directly regulates the current flowing through the windings of the connected electric motor 60.
• the motor current consists of several current components flowing through different windings of the motor.
• a three-phase alternating current is used whose three current components i a , i b , i c standing in a predetermined phase and amplitude ratio are each set separately. Since all three three-phase components i a , i b , i c sum to zero in each phase, each current component can be determined from the other two current components.
• the control is also possible in a field-oriented d / q coordinate system, in which the two current components i d , i q are designed as two direct currents to be regulated. Since the flow-forming current component i d does not contribute to the formation of torque, the input variable of the corresponding control loop can be given identical zero in order to operate the machine with loss-optimized operation. In this case, the control value of a superimposed speed controller w is applied only to the input of the torque-generating current component id to ⁇ permanent control loop.
• the control device 1 comprises from each other in the present example, two independent control ⁇ circles for the two current components i and ⁇ i ß of the right-angled stator coordinate system.
• Each current component i ⁇ and ip is a separate measuring device 10 ', 10 "and ei ⁇ ne own control means 30', 30" is assigned.
• Each of the at ⁇ the measuring devices 10 ', 10 "detects its associated current component i a, i b preferably by means of different measuring methods, such as, for example, a sample and an average value measurement.
• the thus determined actual current values i lst are per ⁇ wells a comparison device 20 ', 20 "supplied.
• the controller output variables of the two control circuits are converted in the orthogonal ⁇ / ⁇ stator coordinate system so that the actuator 50 adjusts the three rotational voltage components u a , u b , u c i a, i b, i c of the rotary current di ⁇ rectly be measured.
• the control device 1 preferably three measuring devices comprises, one for each phase (not shown here). the regulation can take place in a two-axis coordinate system in this case ,
• Rotating machines often require a control that allows the speed to be kept at a preset value.
• a speed control can, for. B. be realized by using a so-called cascade control in which a current control loop is a speed loop un ⁇ terlagert.
• the auxiliary variable motor ⁇ stream is first fixed with a quick inner control loop, whose control variable is formed by the manipulated variable of the outer, slower control loop (speed control loop).
• the derverschachtelung into each other the two control loops divided the total controlled system into smaller sections that are übersichtli ⁇ cher and can be controlled better than the Intelre ⁇ gelumble. As a result, often a higher control accuracy can be achieved.
• FIG. 9 shows a block diagram of such a speed ⁇ control system 3 for a servo motor having the structure shown in Figure 7 according to the invention current control device 1 and a superimposed speed control apparatus 2. While the inner current control loop 1 using its measurement device 10 as Re ⁇ gel size x detects the motor current, engages the parent Speed control circuit 2 by means of a corresponding measuring device 70, the speed of the electric motor 60 in the drive ⁇ strand from. A comparison device 80 of the speed controller 2 generates a speed control deviation from a comparison of the speed actual value ascertained with the aid of the measuring device 70 with a speed setpoint specified by a reference variable u.
• a PI controller 90 of the speed control circuit forming the basis of this control deviation a corresponding Reg ⁇ lerausgangsulate which is ultimately provided to the current control circuit 1 as a command variable w.
• the setpoint value w of the current control circuit 1 can also be formed by a combination of the controller output variable of the speed control circuit 2 with a Vorsteue ⁇ approximate size.
• the speed control circuit 2 shown in Figure 9 may be planar if ⁇ formed as an inner control loop of a higher-level control apparatus. In particular position-controlled An ⁇ gear, such. As servo drives, still have a speed governor 3 higher position control loop (not shown here), the output of the position controller forms the reference variable u of the speed controller 3.

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• Physics & Mathematics (AREA)
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• Engineering & Computer Science (AREA)
• Automation & Control Theory (AREA)
• Feedback Control In General (AREA)
• Control Of Electric Motors In General (AREA)
• Selective Calling Equipment (AREA)
• Use Of Switch Circuits For Exchanges And Methods Of Control Of Multiplex Exchanges (AREA)
• Time-Division Multiplex Systems (AREA)

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