Elmomc SimplIQ Digital Servo Drives-Bell Getting Started Manual de usuario descargar pdf (Pagina 84)

The SimplIQ for Steppers Getting Started & Tuning and Commissioning Guide

MAN-BELGS (Ver. 1.1)

Comparing (6) and (2), we find that the Laplace variable

is equivalent to the

derivative operator,

s ⇔

and its inverse to an integrator,

∫

⇔

. The

transfer function that relates the torque of a motor to its position is roughly a

double integral (the torque is roughly proportional to acceleration), so that the

transfer function from the motor torque to its position is roughly

where

is the motor inertia.

Please note that the transfer function is a full description of the response of its

related system to any input, not just to sinusoids.

It is customary to describe the frequency response of a system pictorially by a

plot of the amplitude and phase of (6) versus the frequency

ω where

ω=

, this

plot is known as its Bode plot. A Bode plot example for the function

()

()()

3360

3200010

⋅

is given in Figure 75.

-30

-20

-10

-200

-180

-160

-140

-120

-100

deg

)

Figure 75: Bode plot of a function

Another efficient pictorial representation of a linear system is the Nichols plot.

The Nichols plot is a plot of the amplitude of (6) versus its phase along the real

parameter,

ω , where

. The Nichols plot of the same transfer function is

shown in Figure 76. As will be shown in the next plot, the Nichols plot is a very

attractive description of an LTI system for feedback control design. An example

Nichols chart of the transfer function

()

()()

3360

3200010

⋅

is in the figure below.

1 2 ... 79 80 81 82 83 84 85 86 87 88 89 ... 93 94

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Elmomc SimplIQ Digital Servo Drives-Bell Getting Started Manual de usuario Pagina 84

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