Rockwell Automation Allen-Bradley PowerFlex 755T Flux Vector Tuning User Manual

74 Rockwell Automation Publication 750-AT006D-EN-P - January 2022
Chapter 4 Auto Tuning
Figure 68 - Autotune Gain Relationships for Load Observer Only, Load Observer with Velocity Estimate, or Acceleration Feedback
Autotune Bandwidth Calculations
Figure 69 shows how autotune inertia and bandwidth tests interact with various parameters to affect the control loop gains. Autotune
updates the parameters in red, which then triggers automatic calculations upon any change of their input parameters. If inertia tests are
performed, always initiate them before running bandwidth calculations. However, inertia tests are not always required before running
bandwidth calculations, for example, when motor inertia is known and R = 0.
Figure 69 - Autotune Bandwidth Calculations
0
K
PI
K
PP
K
VP
K
VI
0
1
2
4
1
Z
K
OP
K
OI
0
LPF
5
System
BW
1
T
BW
)(
4
1
2
Rigid
Z
)(
)1(4
1
2
Compliant
RZ 
2 Hz
(Open Loop
Virtual Encoder)
Automatic
Calculations
Alt Encoder EPR
xxx
Encoder EPR
xxx
Motor Poles
407
1000
1006
Pri Vel Fb Sel
Alt Vel Fb Sel
System Damping
907
LdObs Mode
2020
Automatic
Calculations
[Autotune] =
“BW Calc”
“JMtr BW Calc”
“JTotalBWCalc”
VCL CReg BW
407
Motor Poles
445
Load Coupling
902
907
1000
1006
System Damping
Pri Vel Fb Sel
Alt Vel Fb Sel
Encoder EPR
xxx
Alt Encoder EPR
xxx
906
System BW
1010
Alt Fb GnScale
901
900
Load Ratio
Moto r In er tia
[Autotune] =
“InertiaMotor”
“InertiaTotal”
“JMtr BW Calc”
“JTotalBWCalc”
Mtr NP Pwr Units
403
Motor NP RPM
405
Motor NP Power
406
[Autotune] =
“BW Calc”
“JMtr BW Calc”
“JTotalBWCalc”
Max Speed Rev
1392
Max Speed Fwd
1393
Vel Limit Pos
1898
Vel Limit Neg
1899
1965
1966
2083
Accel Limit Pos
Accel Limit Neg
Torque Limit Pos
2084
Torque Limit Neg
Both
Load Ratio
Both
System BW
Load Ratio
000
= Read Only
000
= User Entered
System C/U Select
Calculated
User
Entered
1756
1955
1957
2021
2023
1754
1757
1956
1958
2022
2024
1755
905
c PReg Ki
c VReg Kp
c VReg Ki
c PReg Kp
c LdObs Kp
c LdObs Ki
u PReg Ki
u VReg Kp
u VReg Ki
u PReg Kp
u LdObs Kp
u LdObs Ki
2154
1973
c Trq LPF BW
c Accel FF Gain
1002
1004
1928
c Vel Fb LPF BW
c Vel Fb LPF Gn
c Vel Comp Gain
2155
1974
u Trq LPF BW
u Accel FF Gain
1003
1005
u Vel Fb LPF BW
u Vel Fb LPF Gn
1929
u Vel Comp Gain
To Control
Loops
1009
1022
u AltVelFbLPF BW
u AltVelFbLPF Gn
1008
1021
c AltVelFbLPF BW
c AltVelFbLPF Gn
1959
1760
c Alt Kvi OL Fb
c Vel FF Gain
1960
1761
u Alt Kvi OL Fb
u Vel FF Gain
Automatic
Calculations
Alt Encoder EPR
xxx
Encoder EPR
xxx
Motor Poles
407
1000
1006
Pri Vel Fb Sel
Alt Vel Fb Sel
System Damping
907
LdObs Mode
2020
Automatic
Calculations
[Autotune] =
“BW Calc”
“JMtr BW Calc”
“JTotalBWCalc”
VCL CReg BW
407
Motor Poles
445
Load Coupling
902
907
1000
1006
System Damping
Pri Vel Fb Sel
Alt Vel Fb Sel
Encoder EPR
xxx
Alt Encoder EPR
xxx
906
System BW
1010
Alt Fb GnScale
901
900
Load Ratio
Moto r In er tia
[Autotune] =
“InertiaMotor”
“InertiaTotal”
“JMtr BW Calc”
“JTotalBWCalc”
Mtr NP Pwr Units
403
Motor NP RPM
405
Motor NP Power
406
[Autotune] =
“BW Calc”
“JMtr BW Calc”
“JTotalBWCalc”
Max Speed Rev
1392
Max Speed Fwd
1393
Vel Limit Pos
1898
Vel Limit Neg
1899
1965
1966
2083
Accel Limit Pos
Accel Limit Neg
Torque Limit Pos
2084
Torque Limit Neg
Both
Load Ratio
Both
System BW
Load Ratio
000
= Read Only
000
= User Entered
System C/U Select
Calculated
User
Entered
1756
1955
1957
2021
2023
1754
1757
1956
1958
2022
2024
1755
905
c PReg Ki
c VReg Kp
c VReg Ki
c PReg Kp
c LdObs Kp
c LdObs Ki
u PReg Ki
u VReg Kp
u VReg Ki
u PReg Kp
u LdObs Kp
u LdObs Ki
2154
1973
c Trq LPF BW
c Accel FF Gain
1002
1004
1928
c Vel Fb LPF BW
c Vel Fb LPF Gn
c Vel Comp Gain
2155
1974
u Trq LPF BW
u Accel FF Gain
1003
1005
u Vel Fb LPF BW
u Vel Fb LPF Gn
1929
u Vel Comp Gain
To Control
Loops
1009
1022
u AltVelFbLPF BW
u AltVelFbLPF Gn
1008
1021
c AltVelFbLPF BW
c AltVelFbLPF Gn
1959
1760
c Alt Kvi OL Fb
c Vel FF Gain
1960
1761
u Alt Kvi OL Fb
u Vel FF Gain

Rockwell Automation Allen-Bradley PowerFlex 755T Flux Vector Tuning Specifications

General

Brand	Rockwell Automation
Model	Allen-Bradley PowerFlex 755T Flux Vector Tuning
Category	Industrial Equipment
Language	English