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发表于 2019-12-8 02:46:54
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移动时可以更改RMC控制器的增益。 必须计算出正确的值,使用查找表或三次样条。 需要知道压力。 最简单的方法是使用蓄压器使压力保持相对恒定。
如果知道执行器的开环增益,固有频率和阻尼系数,则RMCTools可以计算控制器的增益。 但是,如果不知道执行器的开环增益,固有频率和阻尼因数,则需要RMC运动控制器来估算执行器的开环增益,固有频率和阻尼因数
如果气缸在上下移动负载,那么如果有压力传感器测量气缸两端的压力,则很容易计算负载的质量。
VCCM方程用于计算执行器的开环增益。 有一个用于计算固有频率的公式。 估计阻尼系数比较困难。
The RMC controller gains can be changed while moving. The correct values must be calculated, use a look up table or a cubic spline. The pressure needs to be known. The simplest way is to use an accumulator to keep the pressure relatively constant.
RMCTools can calculate the controller gains if the actuator’s open loop gain, natural frequency, and damping factor are known. However, if the actuator’s open loop gain, natural frequency and damping factor are not known, an RMC motion controller is required to estimate the actuator’s open loop gain, natural frequency and damping factor
If the cylinder in moving a load up and down, then it is easy to calculate the mass of the load if there are pressure sensors measuring the pressure on each end of the cylinder.
The VCCM equation is used to compute the actuator’s open loop gain. There is a formula for calculating the natural frequency. Estimating the damping factor is harder.
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