8 Actuator and feedback
54 Positioner DC 6-06
Control units of the type PANDAROS 6-06 are equipped with a current-regulated
amplifier.
8.4 Test mode
Good system integration is only possible when the actuators position accurately. PID
parameters to match the actuator are set at the factory. However when the actuator is
installed it is affected by both the mechanical mounting via the linkage and by the
dimensions and weights of the control rods.
The purpose of the test mode therefore is to make it possible to optimise the servo loop
parameters without any influence from the control unit. It is used solely for testing and
setting up purposes.
The test mode can only be started when the actuator selected for the positioning test has
been switched on with parameter 5910 ActuatorOn. For safet
y reasons the program
automatically exits the positioning mode if the setpoint generator generates values not
equal to 0 and there is no external stop signal present. The test mode cannot be stored
either, i.e. it is automatically deactivated off after a control unit reset.
The test mode is activated with parameter 5700 ActuatorTestOn = 1. If an actuator setpoint
is now selec
ted with parameter 1700 ActuatorTestSetpoint, the actuator'
s reaction can be
observed and/or measured from the feedback. The feedback value is displayed in 2300
ActPos. By changing the setpoint, the step response of the actuator can be m
onitored and
optimised by adjusting the PID values.
In order to check not only the static setting but to also be able to optimise the much more
important dynamic response of the actuator, the change in setpoint selection can be
automated. A test mode is selected with parameter 5701 ActuatorTestMode which can
assum
e the following settings:
5701 ActuatorTestMode = 0 the setpoint from 1700 ActuatorTestSetpoint is
output.
5701 ActuatorTestMode = 1 the setpoint from 1700 ActuatorTestSetpoint is
alternately positively or negatively exposed to the
value from 1701 ActuatorTstAmplitud
e. The
result is a square-wave function.
5701 ActuatorTestMode = 2 a delta function is formed from 1700 Actuator-
TestSetpoint and 1701 ActuatorTstAmplitude.
The frequency for the positional change is defined in 1702 ActuatorTstFrequency.
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