Optimization
Parameter manual b maXX BM3000
Document no.: 5.12001.07 Baumüller Nürnberg GmbH
714
of 820
4.10
4.10 Optimization
4.10.1 Automatic controller and filter setting
An automatic system identification can be processed with the controller. After its determi-
nation an automatic controller and filter setting can be processed. In ProDrive the system
identification is processed in the window Optimization Control Loop Analysis (see
ZFig. 221–). For this purpose the motor must be operated at a speed controller in speed
control, which was set low. The other possibility is to operate in current control with a low
current presetting. Noise is added to the additional current setpoint by "Start analysis".
The evaluation of the measuring values is processed via the FFT module. This evaluation
determines the response of the amplitude and the phase response. After that is checked,
if the controlled system is a two-mass vibrational system. At a controlled system without
resilience, the motor moment of inertia J
m
, Ks, Kp and Tn of the speed controller is cal-
culated, additionally. With a two-mass vibrational system, the load moment of inertia J
L
,
the rigidity c, the attenuation d and filter settings are proposed additionally. The controller
can be set set higher or weaker via the requirements for the phase margin and for the
amplitude margin.
Figure 221: Optimization
The gain Kv of the position controller is proposed additionally, because of the bandwidth
of the speed controller.
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