Observer

An observer is part of the special controller type "Position P and velocity PI controller with Observer (Torque)" used in torque mode. The Observer is a mathematical model for alternative velocity calculation ("estimation"). This velocity is used as an alternative to the actual velocity (time derivative of the actual position). The model receives actual position and actual current as input variables and requires additional parameters.

Velocity Filter: Time Constant T

Part of the Observer model for determining velocities.

Observer Mode

As Observer mode

• ‘OFF’ or
• ‘LUENBERGER’

can be selected.

Motor: Torque Constant Kt

Part of the Observer model.

Motor: Moment of Inertia Jm

Part of the Observer model.

Bandwidth f0

Part of the Observer model.

Correction Factor Kc

Part of the Observer model.