INVT Goodrive350 IP55

Goodrive350 IP55 High-ingress Protection Series VFD Basic Operation Instructions
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(6) This function is applied to automatic reel change. After the VFD is started if the pre-drive
function terminal is valid, the roller runs at the set linear speed. When the terminal is invalid,
the VFD will automatically switch to the corresponding control mode after a period of time.
5.5.20.4 Closed-loop torque mode
Similar to the open-loop torque mode, the closed-loop torque mode has only the difference that
tension detection sensors are installed on the winding/unwinding side. In addition to all the
function modules supported in open-loop torque mode, this mode supports an additional
tension feedback PID closed-loop regulation module. The control principle is shown in the
following figure.
Calculate the torque
according to the tension
T=J*dΩ/dt
+
+
Reference
tension
Rotational inertia of
mechanical system
Rotational inertia
of material
Basic reference
torque
Inertia compensation
torque
Motor reference
toque
+
+
Friction
compensation torque
+
+
PID regulation
Tension feedback
Reference
tension
+
-
Adjustment torque
+