July 2013 6.8 The control loop 851
PT
2
element of the
speed controller
If the controlled system is insufficiently damped (e.g. direct motor coupling or
roller bearings), it will be impossible to attain a sufficiently short settling time
when the step response of the speed controller is adjusted. The step
response will oscillate even with a low proportional factor:
In MP2530.x, enter a value for damping high-frequency interference
oscillations. If the value you choose is too high, the k
v
factor of the position
controller and the integral factor of the speed controller is reduced. Realistic
input values: 0.0003 to 0.0020
MP2530.x PT
2
element of the speed controller (2nd-order delay)
Input: 0 to 1.0000 [s]
Band-rejection filter With the band-rejection filter you can damp oscillations that you cannot
compensate with the differential factor, the PT
2
element, or the low-pass
filter:
With the oscilloscope of the iTNC, find the fundamental frequency of the
interference oscillations and enter them in MP2550.x.
Increase MP2540.x incrementally until the interfering oscillation is
minimized. If you set the damping too high, you will limit the dynamic
performance of the control loop. Realistic input values: 3 to 9 [dB]
MP2540.x Band-rejection filter damping of the speed controller
Input: 0.0 to 18.0 [dB]
MP2550.x Band-rejection filter center frequency of the speed
controller
Input: 0.0 to 999.9 [Hz]
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