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Examples of speed controller settings for vector control with encoders
A number of examples of speed controller settings with vector control with encoders (p1300
= 21) are provided below. These should not be considered to be generally valid and must be
checked in terms of the control response required.
● Positioning, lifting gear, travel drives
Kp (p1460) = 10 ... 15
Tn (p1462) = 200 ... 400 ms (values <= 200 ms are useful for positioning tasks in order to
avoid overshooting the limit position.)
Actual value smoothing (p1442) = 4 ... 10 ms
● Sugar centrifuge (large centrifugal masses)
Kp (p1460) = 15 ... 22
Tn (p1462) = 500 ... 1000 ms
Actual value smoothing (p1442) = 50 ms
Note
Inadequate dynamic response
The dynamic response may be insufficient if the specified current or torque limits are
reached during acceleration or deceleration.
7.4.4.2
Speed controller pre-control (integrated pre-control with balancing)
Description
The command behavior of the speed control loop can be improved by calculating the
accelerating torque from the speed setpoint and connecting it on the line side of the speed
controller. This torque setpoint mv is applied directly as an additive reference variable on the
input side/supply side of the current controller by means of adaptation elements (enabled via
p1496).
The torque setpoint (mv) is calculated from:
mv = p1496 x J x (dn/dt) = p1496 x p0341 x p0342 x (dn/dt)
The motor moment of inertia p0341 is calculated when commissioning the drive system. The
factor p0342 between the total moment of inertia J and the motor moment of inertia must be
determined manually or by optimizing the speed controller. The acceleration is calculated
from the speed difference over the time dn/dt.
Note
When using speed controller optimization
When optimizing the speed controller, the ratio between the total moment of inertia and that
of the motor (p0342) is determined and acceleration precontrol scaling (p1496) is set to
100%.
If p1400.2 = p1400.3 = 0, then the pre-control balancing is automatically set.
Enclosed Drives
Operating Instructions, 12/2018, A5E36652151A
Setpoint channel and closed-loop control
7.4 Vector speed/torque control with/without an encoder
471
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