Program features
36
Speed controller tuning
During the motor identification, the drive speed controller is automatically tuned. It is,
however, possible to manually adjust the controller gain, integration time and
derivation time, or let the drive perform a separate speed controller 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.
Settings
Parameter groups 23 SPEED CONTROL and 20 LIMITS.
Diagnostics
Actual signal 01.02.
A: Undercompensated
B: Normally tuned (autotuning)
C: Normally tuned (manually). Better dynamic performance than with B
D: Overcompensated speed controller
%
t
n
C
B
D
n
N
A
Derivative
Proportional,
integral
Derivative
acceleration
compensation
Torque
reference
Speed
reference
Calculated actual speed
Error
value
-
+
+
+
+
To Next Page
Loading...
