
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 21
(b) Switching timing chart
ಾ឵߃ᓟࠥࠗࡦ
63.4%
CDT = 100ms
ಾ឵߃೨ࠥࠗࡦ
ฦࠥࠗࡦߩᄌൻ
ḳࠅࡄ࡞ࠬ[pulse]
+CDL
CDL
0
ᜰࡄ࡞ࠬ
ḳࠅࡄ࡞ࠬ
Load to motor inertia ratio/load to motor
mass ratio
4.00 ĺ 10.00 ĺ 4.00 ĺ 10.00
Position loop gain 120 ĺ 84 ĺ 120 ĺ 84
Speed loop gain 3000 ĺ 4000 ĺ 3000 ĺ 4000
Speed integral compensation 20 ĺ 50 ĺ 20 ĺ 50
fter-switching gain
Before-switching gain
Droop pulses
Droop pulses
Command pulse
Gain switching
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