Autotuning Of Current Controller - Baumuller b maXX BM3000 Operating Manual

Description of the Software Modules and Parameters
4.4.7

Autotuning of Current controller

At present, the following three measurements have been implemented for the autotuning
function:
m Stator resistance measurement,
m Leakage inductance measurement (stator inductance measurement on synchronous
m Dead time measurement on the power inverter
After the measurements have been performed successfully, the current control circuit can
be self-optimized on command. In ProDrive you can decide whether the modeling param-
eters used for motor control should be set to the values of inductance and resistance from
the motor data sheet or from the results of the autotuning. The dead time compensation
can also be activated via ProDrive.
NOTE!
With the function "Self-optimization" additional parameters cannot be determined for
the motor model of the connected electrical machine!
BM3300 is not an intelligent measuring device for electrical machines!
With the function "Self-optimization" the control engineering characteristics are deter-
mined only. This includes the electrical machine, the cable as well as additional filters
between inverter output of motor and the motor connection terminals.
Dead time compensation is not absolutely necessary when operating with encoder re-
sponse. Dead time measurement need only be carried out for open loop operation and
the dead time compensation then activated.
m The resistance and inductance measurements can only be started together.
Starting autotun-
m The dead time measurement can only be started if the resistance and inductance mea-
ing:
m After change of switch frequency (Z130.15–) the dead time measurement must be ex-
If desired, the calculation and adoption of the measured resistance and inductance must
be activated in the current regulator parameters
surement. The measured resistance is standardized to 20°C, if a temperature sensor is
connected to measure the motor temperature. If the measurement results are not satis-
factory, these parameters can be recalculated from the motor data sheet or be set directly
with other values.
The adoption of the measured motor parameters into the motor control system and the
activation of the dead time compensation is only allowed if the corresponding measure-
ments have been carried out successfully. Otherwise the motor control system uses the
values from the motor data sheet.
The autotuning only has an effect on the current data set.
machines)
surements are also activated at the same time.
ecuted again depending on the controller version (see
from page 469)!
ZDead Time Compensation–
(Z123.10–
Parameter manual b maXX BM3000
Document no.: 5.12001.07
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bit 3 = 1) before the mea-
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