BENTLY 3500/05-01-03-00-00-00框架
速度环
速度回路的目的是调节电机速度。与电流和换向回路一样，速度回路是全数字的，使用旋转变压器或编码器反馈信号来计算实际值电机速度。速度回路的命令可以来自直接用户输入（OPMODE=1）
速度回路是一个在4kHz下工作的数字采样系统。
实际速度和期望速度之间的差异通过补偿器算法过滤，并反馈至换向回路。带前馈的SERVOSTAR CD-Lite伪微分反馈（PDFF）。扭矩环大多数应用程序在扭矩模式配置中使用SERVOSTAR CD-Lite。SERVOSTAR CDLite具有许多内部变量，可用于检查和指示系统操作。其中许多变量及其在MOTIONLINK中的位置在以下讨论中以图形方式显示：帮助揭示含义和关系。
模拟转矩
SERVOSTAR CD-Lite通常配置为作为模拟扭矩回路控制器运行
（OPMODE=3）。在这种情况下，电流回路从模拟到数字（A/D）接收其输入
转换系统。在转换之后，通过以下算法处理输入命令信号：调整信号（ANOFF1、ANDB、ANZERO），对其进行滤波（ANLPFHZ）并缩放（ISCALE），然后开发当前命令。对照峰值（IMAX，ILIM）和连续（折叠特征、ICONT）电流箝位限制。正弦换向调制被添加到命令中，并馈送到三相电流回路调节器，该调节器计算当前错误。该误差通过数字极点配置补偿算法进行反馈。输出补偿器被转换成PWM信号并馈送到功率晶体管桥。电桥使用高压直流总线模块（典型325 VDC总线）为电机提供所需电流绕组。实际电机电流被更新，过程再次开始。
电流采样
电流回路从电流采样电路接收校正反馈。电流传感器在所有装置中使用闭环霍尔采样技术。
电流回路使用电流采样来调节三个电机相位中的每个相位的电流。
微处理器以16kHz的速率对电流信号的两个相位（A和C）进行采样。这个通过检查IA和IC变量来监测瞬时A相电流和C相电流，分别地微处理器计算等效绝对电流，该电流可作为I进行监测。该值可以对2、4、8、16、32或64个样本进行平均。
Torque Loop Most applications use the SERVOSTAR CD-Lite in torque mode configuration. The SERVOSTAR CDLite has many internal variables that can be used to examine and dictate system operation. Many of these variables and their locations in MOTIONLINK are presented graphically in the following discussions to help disclose meanings and relationships. Analog Torque The SERVOSTAR CD-Lite is most often configured to operate as an analog torque loop controller (OPMODE=3). In this case, the current loop receives its input from the analog-to-digital (A/D) conversion system. After conversion, the input command signal is processed through an algorithm that adjusts the signal (ANOFF1, ANDB, ANZERO), filters it (ANLPFHZ) and scales it (ISCALE), before developing the current command. The current (or torque) command is checked against the peak (IMAX, ILIM) and continuous (FoldBack features, ICONT) current clamp limits. Sinusoidal commutation modulation is added to the command and fed to the three-phase current loop regulator, which calculates a current error. This error is fed through a digital pole-placement compensation algorithm. The output of the compensator is converted to a PWM signal and fed to the power transistor bridge. The power bridge uses the high voltage DC BUS Module (325 VDC bus typical) to supply the required current to the motor windings. The actual motor current is updated and the process begins again. Current Sampling The current loop receives corrective feedback from the current sampling circuitry. The current sensors use closed-loop hall sampling techniques in all units. The current sample is used by the current loops to regulate the current in each of the three motor phases. Two phases (A and C) of the current signal are sampled by the microprocessor at a 16 kHz rate. The momentary A phase current and C phase current are monitored by examining the IA and IC variables, respectively. The microprocessor calculates the equivalent absolute current, which can be monitored as I. This value can be averaged for 2, 4, 8, 16, 32, or 64 samples.
