Feedforward; Current Controller Adaption - Baumuller b maXX BM3000 Operating Manual

Description of the Software Modules and Parameters

4.7.2.4 Feedforward

Decoupling feedforward
The decoupling feedforward compensates the influences on the field forming current to
the torque of the machine. Vice versa the influence of the torque forming current on the
field of the machine is compensated.
Electromagnetic force feedforward
There is the possibility to feedforward the electromagnetic force for the current controller
of the torque forming current component. This feedforward can be switched off by enter-
ing the value 0 in
tered in
IxR feedforward
The IxR feedforward compensates the voltage drop at the ohmic resistance of the stator
winding for both the field forming and the torque forming current controller. This feedfor-
ward is generally deactivated and can be activated via parameter Z47.51–, if required.
Additionally it is possible to execute the feedforward based on the actual current values
or based on the current set values. This must be also set in parameter Z47.51–.
For the used stator resistance the decisive factor can be either the parameter value
Z107.29–
pends on the parameterization of parameter Z123.10–.

4.7.2.5 Current controller adaption

Adaption of the current controller that can be programmed freely.
The current controller may become instable at motors with strong saturation. The current
controller adaption can be used to reach a constant control also at high currents.
Kp [%]
100%
Kp
Figure 157:
Z107.20–
Z107.20–
for a correct feedforward of the electromagnetic force.
(Motor data) or the parameter value
Adapt
Iq
1
Current controller adaption
Ke factor. The actual Ke factor of the machine must be en-
Z123.6–
Iq
Iq [A]
2
Parameter manual b maXX BM3000
Document no.: 5.12001.07
(measured resistance). It de-
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