Controllers
Parameter manual b maXX BM3000
Document no.: 5.12001.07 Baumüller Nürnberg GmbH
456
of 820
4.7
The position error is the difference between the position set value and the actual position.
The display of the parameter e1 Position deviation can be smoothed with a PT
1
filter. The
time constant of the filter is set in
Z18.18–. This filtering doesn't influence the position
control! At the position controller input the unfiltered position deviation is evaluated.
18.14 Kv position controller
Proportional gain of the position controller, units s-1.
The position controller is implemented as a P-controller.
It follows from this that with a Kv = 0 the position controller makes no contribution to the
speed set value, as any control deviation (e1 position controller error) is multiplied by the
Kv factor.
18.15 w2-Feedforward factor
Weighting factor for the speed feedforward at position control.
The speed feedforward is implemented as DT1 element. All changes to the position set
value are differentiated with respect to time, multiplied by the parameter w2-Feedforward
factor and smoothed subsequently with the
Z18.70– w2-feedforward time constant. From
this it follows that at speed feedforward of 0 the speed feedforward makes no contribution
to the
Z18.21– speed set value.
With speed feedforward of 1 (=100%) and constant change per unit time of the position
set value, the speed feedforward provides exactly the required speed set value. In this
case the position controller provides only the correction set value for tracking the angle.
18.16
18.17 w2 speed feedforward
The parameter shows the actual output value of the speed feedforward, i.e. the value af-
ter the w2-Feedforward factor Z18.15– and the w2-Feedforward time constant Z18.70–.
18.18 Time constant position error display filter
Time constant for the PT
1
filter to smooth the position deviation display in parameter
Z18.13– e1 position controller error. The filtering doesn't influence the position control!
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