gefran TPD32-EV-500 series - Page 309

—————— Instruction manual ——————
309
Vl=linespeed
Φ
min
=min.diameterofthecore[m]
Φ
max
=max.diameterofthecore[m]
R=gearreductionratiomotor-winder/unwinder
So: ω
max
/ω
min
=Φ
max
/Φ
min
 fromwhich
ω
min
=(Φ
min
/Φ
max
)xω
max
ConsideringthattheparametersPI top lim andPI bottom lim canbeseenasmultiplierfactorsofmin.and
max.ofthefeed-forward.
Multiplyingthefeed-forwardbyPI top lim =1,givesthemax.speedreferenceconcerningtheminimumdiameter.
Multiplyingthefeed-forwardbyPI bottom lim =0.14,givesthemin.speedreferenceconcerningthemax.
diameter.
Thisapplicationoperatesbyusingtheproportional-integralregulation.
Thegainsofasinglecomponentwillbeexperimentallysetwithaloadedmachine.Itispossibletobeginthe
testswiththevaluesbelow:
SetPI P gain PID =15%
SetPI I gain PID =8%
SetPD P gain PID =5%
Inthiscase,usethederivativecomponentforforcingtheregulatoroutputduringvelocitychangesofthesystem.
Programmingforexample:
PD D gain PID =20%
PD D lter PID =20ms
Incaseitisnecessarytocarryoutareferencecascadeforanotherdrive,programPID output onananalog
output,forexample:
Analog output 1 / Select output 1= PID output
(withReal FF PID =10000count,Analog output 1 =10V).
Parameters regarding the calculation function of the initial diameter
Thisfunctionisalwaysnecessarywhenonehastocontrolanunwinderorwhenthestartingdiameterisunknown.
SetPositioning spd atthevalueinrpmwithwhichtheinitialpositionningofthedancerhastobedone.For
example:
Positioning spd =15rpm
ThepolarityofthereferenceassignedtoPositioning speed willbeanyway(winder/unwinder)equaltotheone
functioningasawinder.
Ifforexampleonehastocontrolanunwinderandthespeedreferenceinstandardfunctioningispositive,assign
to Positioning spd anegativevalue.
SetMax deviation atavalueslightlylowerthantheonecorrespondenttothepositionofmax.mechanicaltravel
allowedbythedancer.
Duringcommissioning,itisalwaysnecessarytocarryouttheselfcalibrationoftheanaloginputsofthedrive.
Inparticulartheoneregardinganaloginput1,withdancerinitspositionoflowerfullrange,Thispositionis
automaticallyassignedtothevalue10000.Soinordertoguaranteeaprecisecalculationitmightbeassigned:
Max deviation =8000(Defaultvalue)