Efficient Networks S120 manual Optimizing the current and speed controller, General information

Servo control 3.10 Optimizing the current and speed controller

3.10Optimizing the current and speed controller

General information

CAUTION

Controller optimization may only be performed by skilled personnel with a knowledge of control engineering.

The following tools are available for optimizing the controllers:

●"Function generator" in STARTER

●"Trace" in STARTER

●"Measuring function" in STARTER

●CU320 measuring sockets

Optimizing the current controller

The current controller is initialized when the system is commissioned for the first time and is adequately optimized for most applications.

Optimizing the speed controller

The speed controller is set in accordance with the motor moment of inertia when the motor is configured for the first time. The calculated proportional gain is set to approximately 30% of the maximum possible gain in order to minimize vibrations when the controller is mounted on the mechanical system of the machine for the first time.

The integral time of the speed controller is always preset to 10 ms.

The following optimization measures are necessary in order to achieve the full dynamic response:

●Increase the proportional gain Kp_n (p1460)

●Change the integral action time Tn_n (p1462)

Automatic controller setting of the speed controller (frequency response analysis) in STARTER

●The automatic speed controller setting has the following features:

–Section identification using FFT analysis

–Automatic setting of filters in the current setpoint arm, e.g. for damping resonances

–Automatic setting of the controller (amplification factor Kp, integral time Tn)

●The automatic controller settings can be verified with the measuring functions.

The "Automatic controller setting" parameter screen is selected with the	icon in the
toolbar of the STARTER commissioning tool:

Drive Functions	87
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4