Tuning Velocity Controller (Ziegler&Nichols)
AX5000 Tuning - Guide 7
Version: 1.0
3 Tuning Velocity Controller (Ziegler&Nichols)
3.1 General Information
The main velocity controller parameters are the proportional gain Kp (S-0-0100) and the integral action time
Tn (S-0-0101).
On selection of the motor default values are set,
which enable the motor to be operated safely without
load.
During commissioning the two parameters should be
adjusted in order to find a good compromise between
drive responsiveness (controller bandwidth) and
noise generation.
The method described below initially determines the
stability limit of the control loop. The value
determined for the gain is then multiplied with a field-
proven factor, based on the rules of Ziegler and
Nichols, in order to obtain a stable control loop.
If the bandwidth of the control loop turns out to be inadequate for the application, other methods should be
used. A description of these methods would be beyond the scope of this documentation.
Attention
Nature and source of the danger
This does not apply to vertical axes that are subjected to a continuous force, since it would
cause the axis to drop. In order to minimize the influence of the integral controller, Tn
should be set to a large value, e.g. 100 ms. Be sure to test carefully!
3.2 Preparation
For the tuning process the axis must be able to move in both directions, without reaching the mechanical end
stops. For example, it should be pushed manually to the center of the travel path.
In most cases the AX5000 operates in mode "11:
Position control feedback 1". In order to eliminate the
influence of the position controller, Kv should be 0 for
the tuning process in the position controller. In
addition, Tn is set to 0 in the velocity controller.
Following-error monitoring should be disabled for the
NC axis or set to a large value so that it is not
triggered in the following tests.
To Next Page
Loading...
