144 Program features
Speed controller tuning
It is possible to manually adjust the controller gain, integration time and derivation
time, or let the drive perform a separate speed controller Autotune run (parameter
2305 AUTOTUNE RUN). In Autotune run, the speed controller is tuned based on the
load and inertia of the motor and the machine. The figure below shows speed
responses at a speed reference step (typically, 1 to 20%).
The figure below is a simplified block diagram of the speed controller. The controller
output is the reference for the torque controller.
Note: The speed controller can be used in vector control, ie, when 9904 MOTOR
CTRL MODE setting is VECTOR: SPEED or VECTOR: TORQ.
A: Undercompensated
B: Normally tuned (autotuning)
C: Normally tuned (manually). Better dynamic performance than with B
D: Overcompensated speed controller
(%)
n
C
B
D
n
N
A
t
Derivative
Proportional,
integral
Derivative
acceleration
compensation
Torque
reference
Speed
reference
Calculated actual speed
Error
value
-
+
+
+
+
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