Description of the Software Modules and Parameters
Parameter manual b maXX BM3000
Document no.: 5.12001.07
441
of 820
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4.7 Controllers
4.7.1 Position / Speed Controller
Overview of the Position / Speed controller module in the drive
Figure 140: Overview of the Position / Speed controller in the drive
The Position / Speed controller has the task of controlling its output, the torque-producing
current, so that the control deviation is minimized, i.e. the actual value always follows the
set value.
The Position / Speed controller module incorporates the functions:
m Position controller
m Speed controller
m Torque control
m Gear function for synchronous operating mode
The functions are activated by the drive manager. They depend on the drive type set
(
Z109.1–) and on the drive state (inhibited or enabled).
With the position controller, the target position generated by the set value manager and
the actual position measured by the encoder system are compared and evaluated in the
P-controller (
Z18.14– Kv). In conjunction with the secondary speed controller, a require-
ment for torque current is generated and then passed to the motor manager. The position
controller contains an adjustable speed feedforward (
Z18.15–).
With the speed controller, the target speed generated by the set value manager and the
actual speed measured by the encoder system are compared and evaluated in the PI
controller (
Z18.24– Kp, Z18.25– Tn). A requirement for torque current is calculated and
then passed to the motor manager. The speed controller contains a further PT
1
element
for smoothing the actual speed, a notch filter for speed actual value and an adjustable
acceleration feedforward (
Z18.36–, Z18.37–).
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