Sinamics S TuningPPT课件

1、Set the Speed controller gain to 0.1(P1460) and int. time to 100msec (P1462). Now select measuring Function 1 from the drop Down Choice The axis will travel in the positive direction with readings started after the offset. Reduce the travel with a lower Measuring periods.Start with the first Measuri

2、ng function from the drop down list. This function is used to locate the frequency of the Current set point bandwidth filter.第1页/共36页 Start the axis and then Run Trace and use X Cursor to find Frequency of 1st Pole 第2页/共36页 Record Frequency for use in next section第3页/共36页 Open Current Setpoint Filte

3、r and use Previous value for Notch Frequency. 第4页/共36页 Use this Measuring Function Choice for Next StepSelect the last Measuring function from the drop down list. This function is used to optimize the Current Controller P Gain (p1715) and reset (p1717) parameters.第5页/共36页Start the axis and Measuring

4、 function again . Now adjust the Current controller gain and Int. times to achieve the desired responseP1715 = gain P1717 = int. time.第6页/共36页Note the default value for the gain and integration time第7页/共36页 Adjust Kp and Tn from the default values 第8页/共36页Notice the Overshoot in the Current Actual第9

5、页/共36页 Adjust current curve to desired value 第10页/共36页Curve example on DEMO drive 第11页/共36页 Values used in Last Example Curves - optimized Current Controller settings第12页/共36页Note Default Value of n (speed) Controller and set Tn to 100msExpand the Open-loop /closed-loop control below the drive. Doub

6、le click the Speed controller.第13页/共36页Closed Speed Controller Measuring Function Time DomainSelect the fifth Measuring function from the drop down list. This function is used to optimize the Speed Controller parameters第14页/共36页Observe Curves for Overshoot or Delay Starting values for this example:

7、P gain p14600 = 0.100 Nms/radReset time p14620 = 100 ms第15页/共36页Ensure Torque Limits are not exceeded during speed step response 第16页/共36页Adjust Kp and Tn to desired value 第17页/共36页Adjust Kp and Tn for Desired Results Speed Controller settings this example: P gain p14600 = 0.200 Nms/radReset time p1

8、4620 = 50 msSpeed controller optimized, and torque limit not exceeded第18页/共36页Closed Speed Controller Measuring Function Frequency DomainSelect the first Measuring function from the drop down list. This function is used to optimize the Speed Controller parameters in the Frequency Domain. This is an

9、optional step to ensure the Kp value derived above does not produce a bode diagram that raises above the 0db line.第19页/共36页Measurement of Closed Speed Controller Bode Diagram Frequency Domain Only P- controlled Kp = p14600 Nms/rad Kp=0.04 Nms/rad, Kp=0.1 Nms/rad, Kp=0.2 Nms/rad, Tn =1000 msHigher Kp

10、 gain increases the band width of the controllerRed: Peak above 0 dB Controller can start oscillating!第20页/共36页 Comparison of Time Domain and Frequency Domain Kp=0.04 Nms/rad, Kp=0.1 Nms/rad, Kp=0.2 Nms/rad, Tn =1000 ms Higher Kp gain increases the band width of the controller shorter rise time (see

11、 step response)第21页/共36页 Reference Model Red: Kp = 0.15 Nms/rad, Tn 6 ms, fref = 250 Hz, D = 0.707 Green:Kp = 0.15 Nms/rad, Tn 6 ms ,fref = 60 Hz, D = 0.707 Blue:Kp = 0.15 Nms/rad, Tn 6 ms, fref = 130 Hz, D = 0.707Reference model too small fref = 60 HzThe Reference model can be used to dampen the in

12、itial overshoot with an aggressive Kp setting.第22页/共36页Step 1: Switch on the speed additional set-point from the axis System variableAxis.servosettings.additionalcommandvalueswitch = YESCAUTION: Remember to deactivate this setting upon completion of the position tuning.Closed Position Controller - A

13、xis Position TuningStep 2: Setup a temporary program to enable the axis to allow the function generator to enable movement of the axis.第23页/共36页Open the Expert list of the Axis for balanceFilterMode, kpc, and preCon TypeOfAxis.NumberOfDataSets.ControllerStruct.PV_Controller.balanceFilterMode1.Select

14、 the entries as shown above in the Next value column. 2.Switch the expert list to the “System variables” tab. 3.Select the restartactivation entry as “activate_restart”. Click back on the “Configuration data” tab to have the entries accepted into the Current value. See the next slide for the result.

15、123Step 3: Open the expert list and initialize the PV_Controller variables shown below.第24页/共36页Step 4: Initialize DynamicData with zero values for positionTimeConstant, torqueTimeConstant, and velocityTimeConstant.Step 3: The values from previous slide are now in the current value column第25页/共36页Ad

16、just the Amplitude to limit the travel of the oscillating axis.Step 5: Configure the function generator to the Signal Name: Triangular with a carefully selected Amplitude and Period第26页/共36页Adjust the Positioning window and the Standstill window to prevent function fromGenerating a Standstill error.

17、 Rotary axis will be in degrees.第27页/共36页Step 6: Configure a trace with the axis data as shown below.第28页/共36页Kpc = 0.0 %Kv = 10, Following error 0.4Step 6: Run the initial trace and note the Following error readings.第29页/共36页Kpc = 100.0 %Kv = 10, Following error 0.016Step 7: Optimize the performanc

18、e by setting Kpc Weighting factor of the precontrol to 100%第30页/共36页Step 8: Continue to optimize the performance with adjustments to the Kv value.Kpc = 100.0 %Kv = 40, Following error 0.016第31页/共36页Kpc = 100.0 %Kv = 80, Following error 0.016第32页/共36页Kpc = 100.0 %Kv = 200, Following error 0.012 Axis movement may be to stiff for mechanical connections with this Kv第33页/共36页This trace shows the same Position tuning values with the period decreased