產(chǎn)品內(nèi)容介紹
Harmonic CHA-20A-100-L-M1024-B-SP減速機(jī)
座椅、后座和后座閥座和后座是類似的功能，但閥座關(guān)閉閥門，后座打開閥門。因此，僅描述座椅?？s回是一種防喘振功能。務(wù)必記住，當(dāng)RSR伺服輸出接近0伏時(shí)，閥是靜止的。當(dāng)伺服輸出遠(yuǎn)離中點(diǎn)時(shí)，閥移動(dòng)到所需位置，伺服輸出回到接近0伏的電壓。退縮是座椅后出現(xiàn)的一種功能。它是高度可編程的。當(dāng)目標(biāo)位置小于座椅限制時(shí)，后排座椅進(jìn)入座椅模式。在此模式下，RSR希望盡快關(guān)閉閥門。它通過將輸出沿閥門關(guān)閉方向驅(qū)動(dòng)至導(dǎo)軌來實(shí)現(xiàn)這一點(diǎn)。計(jì)時(shí)器過期后（retractHoldT），閥門位置接近RSR想要的位置時(shí)（ABS | Target Feedback |<posErrorRetreat），會(huì)發(fā)生回縮。當(dāng)閥后退時(shí)，伺服輸出以預(yù)定義速率（retractRate）從導(dǎo)軌傳輸至編程值（exitSeatVal）。在典型情況下，用戶將確定使伺服滑閥歸零所需的電壓；i、 克服機(jī)械偏差調(diào)整。假設(shè)該值為-200 mV。然后，用戶將exitSeatVal設(shè)置為–200 mV加上閥門關(guān)閉方向上的任意量，可能為100 mV。因此，用戶將exitSeatVal設(shè)置為–100 mV。此外，假設(shè)用戶將其他相關(guān)常量保留為其默認(rèn)值。當(dāng)進(jìn)入座椅位置時(shí)，伺服輸出變?yōu)?10伏，并將保持至少10秒鐘。當(dāng)10秒計(jì)時(shí)器到期，且位置反饋在目標(biāo)位置的2%以內(nèi)（可能為0）時(shí)，伺服輸出以每秒10%的速度從10伏逐漸上升至–100毫伏。10伏約為輸出范圍的50%，因此伺服輸出將在5秒鐘后恢復(fù)至–100毫伏。在–100 mV時(shí)，伺服滑閥會(huì)釋放少量液體，從而關(guān)閉閥門。如果目標(biāo)位置變得更高，從而將RSR從閥座上移除，伺服輸出將隨時(shí)可用，以開始移動(dòng)閥門，并且不會(huì)依賴積分作用將其從10伏恢復(fù)為0。
當(dāng)RSR在這些不同模式之間移動(dòng)時(shí)
PI在開始由非正常模式（如座椅）驅(qū)動(dòng)時(shí)跟蹤輸出。因此，恢復(fù)正常運(yùn)行的過渡過程是無障礙的。如果系統(tǒng)未正確調(diào)整，當(dāng)伺服輸出達(dá)到后退值時(shí)，閥可能開始打開。如果發(fā)生這種情況，并且ABS | Target Feedback |>posErrorRetreat，則在寄存器D中設(shè)置一個(gè)位來宣布條件。RSR將輸出發(fā)送回導(dǎo)軌，在退出座椅之前，不允許通道再次后退。用戶應(yīng)確保寄存器D中的位生成警報(bào)，以便在發(fā)生這種情況時(shí)通知操作員。第22-18頁，在第22-8.2節(jié)“PI位置控制”后添加以下章節(jié)：22-8.3通過輸入“CASCADE=1”并鍵入“SC”保存設(shè)置，可以選擇PI控制器的級(jí)聯(lián)PI模式。選擇級(jí)聯(lián)時(shí)，PI 1的+100%至-100%輸出轉(zhuǎn)換為-100%至0%目標(biāo)位置。然后，該目標(biāo)位置值用作PI 2的目標(biāo)位置或需求。第22-20頁，刪除第22-9.7節(jié)“控制器跟蹤”：第22-24頁，刪除22-10.3節(jié)“配置”：第21-26頁，在表22-6“調(diào)節(jié)常數(shù)命令”中添加以下信息：“命令描述retractRate%/秒輸出后退速率。DIRECT=1 PI模式。在直接模式（direct=1）下，輸出沿目標(biāo)位置的方向進(jìn)行。在間接模式下（DIRECT=0），當(dāng)目標(biāo)位置相對(duì)于位置反饋負(fù)向移動(dòng)時(shí)，輸出為負(fù)。posErrorRetreat=2.0輸出在ABS | posFB-TargetPos |<posErrorRetreat之前不會(huì)后退
SEATING, BACKSEATING, AND RETREAT
Seating and BackSeating are similar functions, with the exception that Seating closes the valve, and BackSeating opens it. Therefore, only Seating is described. Retreat is an anti-windup function. It is important to remember that when the RSR servo output is near 0 volts, the valve is stationary. When the servo output moves away from the midpoint, the valve moves to the desired position, and the servo output goes back to near 0 volts. Retreat is a feature that occurs after Seating. It is highly programmable. When the target position is less than seatLimit, the RSR goes into a seating mode. In this mode the RSR wants to close the valve as fast as possible. It accomplishes this by driving the output hard to the rail in the direction of valve closure. Retreat occurs after a timer has expired (retreatHoldT), and once the valve position is close to where the RSR wants it to be (ABS|Target-Feedback| < posErrorRetreat). When a valve retreats, the servo output goes from the rail to a programmed value (exitSeatVal) at a predefined rate (retreatRate).In a typical scenario, the user would determine the voltage required to null the servo spool; i.e., overcome the mechanical bias adjustment. Let,s assume the value is –200 mV. The user would then set exitSeatVal to –200 mV plus an arbitrary amount in the direction of valve closure, 100 mV perhaps. So, the user would set exitSeatVal to –100 mV. Also, assume the user leaves the other associated constants to their default values. When seating is entered, the servo output goes to +10 volts and will remain there for at least 10 seconds. When the 10 second timer expires, and when position feedback is within 2 percent of the target position (probably 0), the servo output ramps from 10 volts to –100 mV at 10% per second. Ten volts is about 50% of output range, so the servo output would return to –100 mV after 5 seconds. At –100 mV, the servo spool is letting a small amount of fluid escape, thus closing the valve. If the target position went higher, thus removing the RSR from seating, the servo output would be readily available to begin to move the valve, and would not rely on integral action to bring it from 10 volts back to 0.
When the RSR is moving between these various modes
the PI tracks the output when it is begin driven by one of the non-normal modes such as seating. Therefore, the transition back to normal operation is bumpless. If the system is not properly tuned, the valve could start to go open when the servo output reaches the retreat value. If this occurs and ABS|Target-Feedback| > posErrorRetreat, a bit is set in register D to announce the condition. The RSR sends the output back to the rail and will not allow the channel to retreat again until seating is exited. The user should ensure that the bits in register D generate alarms to notify the operator should this occur. Page 22-18, Add the following section after Section 22-8.2 “PI Position Control”: 22-8.3 CASCADE PI MODE Cascading of the PI controllers can be selected by entering “CASCADE = 1” and saving the setting by typing “SC”. When cascading is selected, the +100% to -100% output of PI 1 is converted to -100% to 0% target position. This target position value is then used as the target position, or demand, for PI 2. Page 22-20, Delete Section 22-9.7 “Controller Tracking”: Page 22-24, Delete Section 22-10.3 “Configuration”: Page 22-26, Add the following information in Table 22-6 “Tuning Constant Commands:” Command Description retreatRate % per second rate of output retreat. DIRECT =1 PI mode. In direct mode (DIRECT=1) the output goes in a direction with respect to target position. In indirect mode (DIRECT=0) the output goes negative when target position moves negative with respect to position feedback. posErrorRetreat=2.0 The output will not retreat until ABS| posFB - TargetPos| < posErrorRetreat
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