BENTLY 3500/05-01-03-00-00-00框架
速度環
速度回路的目的是調節電機速度。與電流和換向回路一樣，速度回路是全數字的，使用旋轉變壓器或編碼器反饋信號來計算實際值電機速度。速度回路的命令可以來自直接用戶輸入（OPMODE=1）
速度回路是一個在4kHz下工作的數字采樣系統。
實際速度和期望速度之間的差異通過補償器算法過濾，并反饋至換向回路。帶前饋的SERVOSTAR CD-Lite偽微分反饋（PDFF）。扭矩環大多數應用程序在扭矩模式配置中使用SERVOSTAR CD-Lite。SERVOSTAR CDLite具有許多內部變量，可用于檢查和指示系統操作。其中許多變量及其在MOTIONLINK中的位置在以下討論中以圖形方式顯示：幫助揭示含義和關系。
模擬轉矩
SERVOSTAR CD-Lite通常配置為作為模擬扭矩回路控制器運行
（OPMODE=3）。在這種情況下，電流回路從模擬到數字（A/D）接收其輸入
轉換系統。在轉換之后，通過以下算法處理輸入命令信號：調整信號（ANOFF1、ANDB、ANZERO），對其進行濾波（ANLPFHZ）并縮放（ISCALE），然后開發當前命令。對照峰值（IMAX，ILIM）和連續（折疊特征、ICONT）電流箝位限制。正弦換向調制被添加到命令中，并饋送到三相電流回路調節器，該調節器計算當前錯誤。該誤差通過數字極點配置補償算法進行反饋。輸出補償器被轉換成PWM信號并饋送到功率晶體管橋。電橋使用高壓直流總線模塊（典型325 VDC總線）為電機提供所需電流繞組。實際電機電流被更新，過程再次開始。
電流采樣
電流回路從電流采樣電路接收校正反饋。電流傳感器在所有裝置中使用閉環霍爾采樣技術。
電流回路使用電流采樣來調節三個電機相位中的每個相位的電流。
微處理器以16kHz的速率對電流信號的兩個相位（A和C）進行采樣。這個通過檢查IA和IC變量來監測瞬時A相電流和C相電流，分別地微處理器計算等效絕對電流，該電流可作為I進行監測。該值可以對2、4、8、16、32或64個樣本進行平均。
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.
