Closed-Loop Position Controller - Siemens SINAMICS S150 Operating Instructions Manual

9.4.5.2

Closed-loop position controller

Description
The position controller is a PI controller. The P gain can be adapted using the product of
connector input p2537 (position controller adaptation) and parameter p2538 (Kp).
Using connector input p2541 (limit), the speed setpoint of the position controller can be
limited without pre-control. This connector input is pre-connected with connector output
p2540.
The position controller is enabled by an AND link of the binector inputs p2549 (position
controller 1 enable) and p2550 (position controller 2 enable).
The position setpoint filter (p2533 position setpoint filter time constants) is a PT1 element,
the balancing filter a dead time element (p2535 balancing filter speed feedforward control
(dead time)) and PT1 member(p2536 balancing filter speed feedforward control (PT1)). The
speed feedforward control p2534 (speed feedforward control factor) can be deactivated
using the value 0.
Note
We recommend that only experts use the functions of the position controller without using
the basic positioner.
Function diagram
FD 4015
Parameters
• p2533
• p2534
• p2535
• p2536
• p2537
• p2538
• p2539
• p2540
• p2541
Drive converter cabinet units
Operating Instructions, 07/07, A5E00288214A
Position controller
LR position setpoint filter time constants
LR speed feedforward control factor
LR speed feedforward control balancing filter dead time
LR speed feedforward control balancing filter PT1
CI: LR position control adaptation
LR proportional gain
LR integral time
CO: LR position controller output speed limit
CI: LR position controller output speed limit signal source
Functions, monitoring, and protective functions
9.4 Extended functions
359