Baldor MintDrive II User Manual

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Control System B-5MN1901
B.2 Cont rol system operation
The following sections describe the operation of the position, speed and torque controllers.
B.2.1 Position controller
The position controller, shown below, is a typical proportional + integral + derivative (PID)
controller , with gains set by the Mint keywords KPROP, KINT and KDERIV. The position
demand from the profiler is compared with the measured position and the error is fed into the
PID control calculation. The resulting value forms the basic speed or torque demand,
depending on the CONFIG setting. The effect of the integral term can be changed using the
KINTLIMIT and KINTMODE keywords. KINTLIMIT sets the maximum value of the effect of
integral action, as a percentage of the full scale demand. KINTMODE canbeusedtospecify
the circumstances under which the integral term is applied.
As an alternative to the derivative term, a velocity feedback term is available by setting
keyword KVEL. To improve the tracking performance of the position controller , the profiler
speed is fed forward, by gain KVELFF, to give a contribution to the final speed or torque
demand. Likewise, if CONFIG is set to _cfTORQUE_SERVO, the profiler acceleration is fed
forward by gain KACCEL to give a contribution to the final speed or torque demand. The
position control calculation is performed every 500μs.
The gain values KPROP, KINT, KDERIV, KVEL, KVELFF and KACCEL must be tuned for each
application. This can either be performed automatically within the Commissioning Wizard, or
manually using the Fine-tuning tool in Mint WorkBench.
KVELFF
KACCEL
KPROP
KINT
KDERIV
KVEL
dt
d
dt
Following
error
(FOLERROR)
Proportional gain term
Integral gain term
Derivative gain term
Velocity feedback
term
Measured s peed
(VEL)
Speed or torque demand
Measured pos ition
(POS)
Velocity feedforward term
Acceleration feedforward term
(CONFIG _cfTORQUE_SERVO only)
Profiler acceleration
Profiler speed
(VELDEMAND)
Profiler position
(POSDEMAND)
+
+
+
+
+
+
+
+
-
-
Figure 58 - Position control system
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Baldor MintDrive II Specifications

General

Brand	Baldor
Model	MintDrive II
Category	Servo Drives
Language	English