Equivalent time constant for feedforward control of acceleration (P-AXIS-00225/ P-AXIS-00226)

The acceleration reference variable is weighted with the mechanical time constant "vorsteuer.vs_a_faktor/ vorsteuer.vs_a _ nenner" of the drive. The drive is modeled here as a first-order time-delay element (Figure 8-1).

In the Laplace-range the following transfer function is obtained :

G = 1 / [ 1 + T * s ] _{Antrieb a}

with Ta = vs_a_faktor / vs_a_nenner