Position / Speed Controller Adaption - Baumuller b maXX BM3000 Operating Manual

Description of the Software Modules and Parameters

4.7.1.2 Position / speed controller adaption

Adaption of the position controller and speed controller that can be programmed freely.
At low speed the control deviation is very low and these deviations can not be compen-
sated fast enough. Therefore often a stronger controller is required for low speed.
The parameters Kp and Tn of the speed controller and Kv of the position controller are
adapted depending on the speed with the speed controller adaption. Two or three inter-
polation points can be specified for the adaption. If the mean speed threshold
) is set to 0, the adaption is executed with two interpolation points.
The specified factors will be multiplied by the regular values of Kp (Z18.24–), Tn
(Z18.25–) and Kv (Z18.14–). Kp and Ki will be interpolated linearly between the both
speed limits, where Ki is calculated from Kp and Tn.
The resulting adapted value of Tn is calculated from the adapted values for Kp and Ki.
This calculation of Tn is executed with low priority, because Tn is only for display.
The adaption can be calculated alternatively depending on the speed actual value or on
the speed set value or on a free usable parameter (Z155.18–). In position control the
adaption can additionally be calculated depending on the speed feedforward.
Kp * Kp
Tn * Tn
Figure 147:
In
tion. While Kp and Kv are linear, Tn mostly has a hyperbolic shape.
The position/speed controller adaption can be activated by the (controller adaption-)
mode Z155.1–.
If the middle speed threshold is parameterized to 0, the middle interpolation point is not
applicable and the adaption is executed between the upper and lower threshold.
adapt1
adapt1
n
1
Characteristics of Kp (Kv is analog) and Tn depending on the speed
ZFig. 147–
the characteristics of Kp and Tn is shown due to the speed controller adap-
Kp * Kp
adapt2
Tn * Tn
adapt2
n
2
Parameter manual b maXX BM3000
Document no.: 5.12001.07
4
(Z155.15–
Kp [18.24]
Tn [18.25]
Speed
n
3
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