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Tracking errors decreasing in CNC system of machinę tools 89
Fig. 3. The architecture of CNC control system with feedforward control
The motion unit resistance expressed through iquriq\k current values, real speed values (0^(0^ and tracking errors Sw+Gm are sent every communication period cycle during machinę running from servo-drives to CNC controller. The CNC controller calculates position displacement elt*+eik* from interpolator unit, designates velocity feedforward (Qjj\k*+(Offlk* anc* torque i^k^hg 4A* feedforward parameters and sends them back to 1-4 servo-drives.
The błock diagram of the servo-drive with PMSM motor is shown in Fig. 4 [3, 4].
CNC controller
Fig. 4. Servo-drive with PMSM motor with on-line feedforward control
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