Controller Adaptation - Siemens SINAMICS S120 System Manual

Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1460[0...n]
• p1461[0...n]
• p1462[0...n]
• p1464[0...n]
• p1465[0...n]
• p1466[0...n]
• p1467[0...n]
4.18.6

Controller adaptation

Since the natural frequency of the cylinder changes as a function of position, it may be useful
to adapt the position of the velocity controller. The maximum values occur at the two edges,
and the minimum approximately at the center (p0351) of the traversing range.
Preconditions
● Referencing on the NC side
● Calibrating the cylinder piston at the zero position according to Chapter Piston calibration
(Page 121).
● Optimized control parameters are obtained depending on the operating range being
considered.
Procedure
Optimize the velocity controller (P and D components) with the associated parameters at the
edges as well as the position of p0351
Example: (refer to Chapter "Velocity controller (Page 149), Figure 5-7 Adaptation
(Page 150)") operating range = entire piston stroke
Interpolation point 1
Interpolation point 2
Interpolation point 3
Hydraulic Drive
System Manual, 04/2015, 6SL3097-4BA00-0BP1
Velocity controller P gain A
Velocity controller P gain
Velocity controller P gain B
Velocity controller D component smoothing time constant
Velocity controller derivative-action time A
Velocity controller derivative-action time
Velocity controller derivative-action time B
Optimization at the A side of the cylinder
→ p1460
→ p1465
Optimization at the piston position according to
p0351: HLA axis natural frequency A side
→ p1461
→ p1466
Optimization at the B side of the cylinder
→ p1462
→ p1467
Commissioning
4.18 Fine calibration and tuning
P gain
D gain
P gain
D gain
P gain
D gain
119