ABB DCS550 - Inertiacomp (Inertia; Acceleration Compensation)

137
Winder
3ADW000379R0501 DCS550 Manual e e
Commissioning hints:
For proper calculation
following rules apply:
−
Maximum torque (T
max
) is reached at maximum diameter (D
max
), means with a diameter of 100 %.
−
The motor torque - see MotTorqNom (4.23) - must be larger than maximum torque (T
max
).
− The torque scaling is needed, because the tension to torque function works with relative values.
%100*)21.63(
max
Mot
T
T
ScaleTTT =
i
DF
T
*2
*
maxmax
max
=
T
max
[Nm] maximum needed torque
T
Mot
[Nm] nominal motor torque, see MotTorqNom (4.23)
F
max
[N] maximum tension
D
max
[m] maximum diameter
i
gear ratio (motor / load)
InertiaComp (inertia / acceleration compensation)
During the winding operation, the motor must only generate the torque for the
needed tension. For acceleration, an additional torque is necessary. The
acceleration torque (inertia
compensation) depends on the inertia of the complete
winder (motor, gearbox, spool and coil). The inertia of motor, gearbox and spool is
constant. The inertia of the coil is a function of the diameter. In case the diameter is
small, the inertia is small.
With increasing diameter, the inertia increases. That
means more acceleration torque (inertia compensation) is needed. The problem in
many applications is that the inertia is not available. Thus, it has to be determined by
means of acceleration tests
.
dt
d
JT
acc
ω
*=
J
mot
, J
gearbox
, J
spool
= J
mech
= const.
J
coil
~ D
4
T
acc
[Nm] torque needed for acceleration
J [kg m
2
] inertia of the complete winder
d
É / dt [1/s
2
] angular acceleration
Commissioning hints:
−
InerMech (62.26) has to be determined by means of acceleration trials with maximum acceleration using
the shortest ramp time. Only the spool is on the winder. The result is available in MotTorqFilt (1.07) during
the acceleration. Autotuning is possible with WinderTuning (61.21) = InerMechComp.
−
InerCoil (62.25) has to be determined by means of acceleration trials with maximum acceleration using the
shortest ramp time. The largest coil (maximum diameter and maximum width) has to be on the
winder. The
result is available in MotTorqFilt (1.07) during the acceleration. Autotuning is possible with WinderTuning
(61.21) = InerCoilComp.
−
Do not forget to subtract the average friction losses from the measured values - see FrictAt0Spd (63.26)
to
FrictAt100Spd (63.30).
−
The width calculation works with relative width in percent of the maximum width, so the physical values
must be converted.
%100*)27.62(
max
Width
Width
dthInerCoilWi
act
=
− InerReleaseCmd (62.28) releases InertiaComp (62.30). The output is forced to zero if the switch is open.
J
mot
J
gearbox
J
coil
J
spool
J
mot
J
gearbox
J
coil
J
spool