Yaskawa Electric Servo Drive Input 1phase 11.0AMPS Industrial Servo Pack SGDE-08AS

Model Number:SGDE-08AS
Input Voltage:200-230V
Input Frequency:50/60HZ
Input PH : 1
Input AMPS:11.0
Series : Sigma 2 (Σ-II Series)
Output Power : 750W
Output Voltage: 0-230V
Output AMPS: 4.4
Place of Origin:Japan
Efficiency:IE 1

 

 

 

 

   

 

The coil itself is shown on the left in Figure 1.6 while the Xux pattern produced is shown on the right. Each turn in the coil produces a Weld pattern, and when all the individual Weld components are superimposed
we see that the Weld inside the coil is substantially increased and that the closed Xux paths closely resemble those of the bar magnet we looked at earlier. The air surrounding the sources of the Weld oVers a homogeneous path for the Xux, so once the tubes of Xux escape from the concentrating inXuence of the source, they are free to spread out into the whole of the surrounding space. Recalling that between each pair of Xux lines there is an equal amount of Xux, we see that because the Xux lines spread out as they leave the conWnes of the coil, the Xux density is much lower outside than inside: for example, if the distance ‘b’ is say four times ‘a’ the Xux density Bb is a quarter of Ba.

 

Although the Xux density inside the coil is higher than outside, we would Wnd that the Xux densities which we could achieve are still too low to be of use in a motor. What is needed Wrstly is a way of increasing the
Xux density, and secondly a means for concentrating the Xux and preventing it from spreading out into the surrounding space.

 

 

 

 

Feedforward Control
In order to achieve near zero following or tracking error, feedforward control is often employed. A requirement for feedforward control is the availability of both the velocity, w*(s) and acceleration, a*(s) commands synchronized with the position commands,?q*(s). An example of how feedforward control is used in addition to disturbance rejection control is shown in Fig. 8.

 

 

 

 

Feedforward control is used to calculate the required torque needed to make the desired move.
The basic equation of motion is given in equation (10).
Tmotor d -TJb = a + w (10)
Since the disturbance torque, Td , is unknown, the estimated motor torque can only be
approximated as shown in equation (11).

ˆ ˆ Estimated Torque s = Ja* * s + wb s (11)
In most cases, the disturbance torque is small enough that estimated torque is very near the required torque. If this is the case, and if the velocity and acceleration commands are available, simple estimates of the total inertia and viscous damping can be used to generate the estimated torque profile in real time without any delay. Continuing with our example, the contributions to the estimated torque by the velocity and acceleration commands are shown in Figs. 9 a) and b) respectively. The composite feedforward signal is shown in Fig. 9 c)