Setting up Compax3
C3I12T11
192-120113 N08 C3I12T11 - December 2010
Controller coefficients
In this chapter you can read about:
Velocity Loop P Term .................................................................................................... 204
D-term of the KD velocity controller ............................................................................... 204
P-term KV position loop ................................................................................................. 204
Dependence of the controller coefficients from the optimization objects
The controller coefficients are influenced by the optimization objects such as
"stiffness" and/or "attenuation". The dependency is displayed below.
I-term KI in the velocity loop
T
EGD
: The replacement time constant of the closed velocity loop.
St Rigidity
Velocity Loop P Term
)( /~ ~
20
[%]14,030
[%]
100
100
[%]
100
[%]
DpfKEMKTmKStK
Dp
EMK
T
Tm
T
St
K
LINPVPVPV
N
EGD
PV
=∧∧⇒
⋅+
⋅⋅⋅⋅
⋅
=
T
EGD
: The replacement time constant of the closed velocity loop.
T
N
: The mechanical integration time constant of the motor.
f
LIN
(): Linear function (straight) between attenuation and KPV
Tm Moment of Inertia
St Rigidity
Dp Damping
D-term of the KD velocity controller
DtermK
K
Dterm
K
D
DD
~
100
[%]
%100_
⇒
⋅=
KD_100%
:
The defined 100% coefficient
Dterm D term
P-term KV position loop
[%])/1( [%]~
[%]14,030
20
100
[%]
DpfKSt
K
T
DpT
St
K
LINVV
X
EGD
V
=∧⇒
⋅
⋅+
⋅
⋅
=
T
EGD
: The replacement time constant of the closed velocity loop.
T
X
: The position integration time constant of the motor.
St Rigidity
Dp Damping
f
LIN
(): Linear function (straight) between 1/attenuation and KV
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