Controllers; Position / Speed Controller - Baumuller b maXX BM3000 Operating Manual

Description of the Software Modules and Parameters
4.7

Controllers

4.7.1

Position / Speed Controller

Overview of the Position / Speed controller module in the drive
Figure 140:
The Position / Speed controller has the task of controlling its output, the torque-producing
current, so that the control deviation is minimized, i.e. the actual value always follows the
set value.
The Position / Speed controller module incorporates the functions:
The functions are activated by the drive manager. They depend on the drive type set
(Z109.1–) and on the drive state (inhibited or enabled).
With the position controller, the target position generated by the set value manager and
the actual position measured by the encoder system are compared and evaluated in the
P-controller
ment for torque current is generated and then passed to the motor manager. The position
controller contains an adjustable speed feedforward (Z18.15–).
With the speed controller, the target speed generated by the set value manager and the
actual speed measured by the encoder system are compared and evaluated in the PI
controller
then passed to the motor manager. The speed controller contains a further PT
for smoothing the actual speed, a notch filter for speed actual value and an adjustable
acceleration feedforward (Z18.36–, Z18.37–).
Overview of the Position / Speed controller in the drive
m Position controller
m Speed controller
m Torque control
m Gear function for synchronous operating mode
(Z18.14– Kv). In conjunction with the secondary speed controller, a require-
Z18.25–
(Z18.24– Kp, Tn). A requirement for torque current is calculated and
Parameter manual b maXX BM3000
Document no.: 5.12001.07
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