Program features 83
Autotune modes
Autotuning can be performed in three different ways depending on the setting of
parameter 25.34 Speed controller autotune mode. The selections Smooth, Normal
and Tight define how the drive torque reference should react to a speed reference
step after tuning. The selection Smooth will produce a slow but robust response;
Tight will produce a fast response but possibly too high gain values for some
applications. The figure below shows speed responses at a speed reference step
(typically 1…20%).
Autotune results
At the end of a successful autotune routine, its results are automatically transferred
into parameters
• 25.02 Speed proportional gain (proportional gain of the speed controller)
• 25.03 Speed integration time (integration time of the speed controller)
• 25.37 Mechanical time constant (mechanical time constant of the motor and
machine).
Nevertheless, it is still possible to manually adjust the controller gain, integration time
and derivation time.
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
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