Moog MSD Servo Drive Series

MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
125
7 Control
Fig. 7.18: “Circle and hexagon voltages” diagram
U
N
Mainsvoltage
U
l
Voltageatinductor
U
u
Invertervoltage
U
zk
DClinkvoltage
α Phase angle
Legend for “Circle and hexagon voltages” diagram
ID Index Name Unit Description
431 0 CON_CCON_VLimit %
432 0 CON_CCON_Mode
Voltagelimitforfirstcurrentcontroller
Selectcurrentcontrol/limitationmode
Table 7.8: “Advanced torque control - Overmodulation” parameters
7.3.6Torquecontrolwithdefinedbandwidth
The controller gain is determined by activating test signals (Autotuning). The
calculations and the relevant autotuning are carried out in the drive controller. The
advanced settings are made in P1530[0] - SCD_SetMotorControl, P1531[0] -
SCD_Action_Sel and P1533[0] - SCD_AT_Bandwidth.
 The3dBbandwidthoftheclosedloopisspecifiedasthebandwidth.
 Advisablebandwidthsettingsat8kHzswitchingfrequencyareupto
approximately2000Hz;at16kHzswitchingfrequencyuptoapproximately
3000Hz.
 TheP-gainCCON_Kpiscalculatedaccordingtotheamountoptimum.
 Theintegral-actiontimeCCON_Tnisinterpolatedbetweentheamount
optimumandthesymmetricaloptimum,sothattheI-contentissufficient,
resultinginreducedinterferenceresponse.
P no. Index Name / Setting Unit Function
1530 0 SCD_SetMotorControl
Fault(-1)
Ready(0)
CALC_CON(1)
CALC_ASM(2)
BANDWIDTH(3)
DEADBEAT(4)
Torquecontrollersettingwithdefinedbandwidth
Errorduringcalculation
Calculationready
Controlwithmotordatacalculation
Calculateasmmotorfromrateddata
Calculatecurrentcontrollerbybandwidth
Thissettingparameterizesadead-beat
controller.Thestructureisswitchedto
feedbackwithobserver,theobserveris
designed(toaspecificequivalenttimeconstant
–forsettingseeP 434[0] - CON_CCON_
ObsPara–andthespeedcontrollergainsare
calculatedaccordingly.
1531 0 SCD_Action_Sel Startconditionstodeterminethetorque
controllersettings
FAULT(-1) Selectedfunctionstoppedwithfault
READY(0) Readytostartfunction/lastcallsuccessfully
ended
Table 7.9: “Torque control with defined bandwidth” parameters