Optimise Speed Controller - Lenze 8400 StateLine C Reference Manual

5.8.4.2

Optimise speed controller

The speed controller is in the form of a PID controller with an additional differential speed-
setpoint gain. For optimum behaviour, the PID speed controller has to be optimised and
the overall mass inertia of the drive train has to be determined.
 In the Lenze setting, the configuration of the speed controller provides robustness and
moderate dynamics.
Parameter
C00070/3
C00071/3
C00072
Speed controller gain Vp
The gain Vp (C00070/3) of the speed controller is defined in a scaled representation which
enables a comparable parameterisation almost independent of the power of the motor or
inverter. Here, the speed input difference of the controller is scaled to the rated motor
speed whereas the output torque refers to the rated motor torque. A gain of 10 means that
a speed difference of 1 % is gained through the P component with 10 % torque.
If the rated data of the motor and the mass inertia of the drive system are known, we
recommend the following setting:
V = Gain of the speed controller (C00070/3)
P
T = Time constant for the acceleration of the motor
M
M = Rated motor torque
N
n = Rated motor speed
N
J = Total moment of inertia of the drive
drive, total
[5-14] Recommendation for the setting of the gain of the speed controller
Firmware ≤ 11.00 - DMS 8.0 EN - 10/2011
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com
Sensorless control for synchronous motors (SLPSM)
Info
SLPSM: Vp speed controller
SLPSM: Ti speed controller
SC: Tdn speed controller
T
M
V 0.2 ... 0.5
≈ ⋅
------------------ -
P
0.01 s [ ]
2 π n ⋅ ⋅ [ rpm
N
T s [ ] ------------------------------------- - J
=
M
M [ Nm ] 60 ⋅
N
P [ W ] 60 ⋅
N
M [ Nm ]
= ------------------------------------- -
N
2 π n rpm
⋅ ⋅ [
N
L
8400 StateLine C | Reference manual
s [ ]
]
2
kgm
⋅ [ ]
Drive, total
]
Motor control (MCTRL)
Lenze setting
Value Unit
3.00
100.0 ms
0.00 ms
183