For brushed motors only, IR Compensation is a “pseudo-velocity” mode because the actual motor velocity is not measured. The velocity loop is closed by estimating motor velocity by using the motor terminal voltage and the motor current. An increase in the motor current is interpreted as the motor slowing down because of a system disturbance, at which point positive feedback is injected into the velocity loop as compensation.
- IR Compensation mode is a unique cost-saving solution in applications where positive feedback is a benefit
ADVANCED Motion Controls' Capabilities
- A small number of analog drives feature IR Compensation mode. True Velocity mode with the use of an encoder is recommended rather than IR Compensation. This should only be a choice when a velocity feedback device is not available due to system cost concerns.