Increased Controller Factors In The Current Control Loop; D Feedforward F/ Optimization Of The Current Controller Command Action - HEIDENHAIN iTNC 530 HSCI Technical Manual

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Increased controller factors in the current control loop:

The dead time in the current control loop is the decisive factor for the

attainable controller factors, and therefore for the attainable bandwidth. With

MP2450, you can activate compensation of this dead time. After activation,

you have to repeat the current controller adjustment. Usually you can then set

considerably higher current controller factors. The higher the controller

factors, the larger the bandwidth of the current controller. The bandwidth of

the current control loop can be evaluated with the Bode diagram function of

the TNCopt commissioning and diagnostic software (see TNCopt User's

However, the noise in the current—and as a result, the loudness of the drive—

increase when the current controller bandwidth is increased.

D feedforward for optimization of the current controller command

With MP2440, you activate feedforward with proportionally differentiating

behavior for the torque-generating current. This way you achieve an optimized

command action of the current controller.

The parameter MP2440 indicates the cutoff frequency in Hertz [Hz] up to

which feedforward is active. When this cutoff frequency is reached,

feedforward is deactivated by a low-pass element. It is therefore also referred

feedforward in the following.

The following table shows the maximum possible cutoff frequency depending

on the PWM frequency of the drive. The higher the cutoff frequency, the larger

the bandwidth of the current controller regarding its command action. At the

same time, however, the noise in the current—and as a result, the loudness

of the drive— increase. If you enter 0 Hz, feedforward is deactivated.

Maximum values for parameter MP2440 as a function of the PWM frequency:

PWM frequency

Adjustment of the current controller if increased current controller

factors are active over MP2450:

For standard drives, it is usually not necessary to increase the current

controller bandwidth. In general, the increase is only useful if the drives are

connected directly without an interconnected gear.

Maximum value for MP2440

HEIDENHAIN Technical Manual iTNC 530 HSCI