Current Control - TDE MACNO MINIOPD EXP User Manual

2.2.4 CURRENT CONTROL

Name
P83 - Kpc current regulator proportional
I_REG_KP
gain
P84 - Tic current regulator lead time
I_REG_TI
constant
P85 - Tfc current regulator (filter) time
I_REG_TF
constant
PRC_I_REG_KP_COE P126 - KpI Corrective coeff. estimated Kp
FF for current loops
P158 - Corrective coefficient for
PRC_I_DECOUP
decoupling terms
C59 - Disable dynamic decoupling +
DIS_I_DECOUP
feedfoward
P160 - PWM delay compensation on the
I_DELAY_COMP
currents
PRC_IQ_REF D07 - Request torque current Iq rif
PRC_ID_REF D08 - Request magnetizing current Id rif
PRC_IQ D15 - Current torque component
PRC_ID D16 - Current magnetizing component
PRC_VQ_REF D20 - Vq rif
PRC_VD_REF D22 - Vd rif
MOT_I D11 - Current module
EL_FRQ D13 - Rotor flux frequency
ACTV_POW D01 - Active power delivered
SLI_FREQ D34 - Slip frequency
PRC_MOT_T D35 - Actual torque produced
Current regulators generate the voltage reference values required to ensure torque and flux currents
that are equal to their reference values.
The current signals processed by these regulators are expressed according to the maximum drive
current, which means that they are affected by the ratio between the rated motor current and the
rated drive current (P61). To ensure good control, this ratio should not drop below 35 - 40% i.e. Do
not use a drive that is more than two and a half times larger than the motor, nor a motor that is more
than one and a half times larger than the drive.
The flux current is displayed as a percentage of the rated motor current in d16, while the torque
current is displayed as a percentage of the rated motor current in d15. The constants of these
regulators are established in engineering units by parameters P83, proportional gain Kp; P84, time in
ms of the lead time constant Ta equal to the integral regulator time constant multiplied by the gain
(Ta = Ti*Kp); and P85, filter constant in ms.
Parameters P83 and P84 cannot be changed directly because they are considered to be
perfectly calculated by the auto-tuning. P83 can only be changed by accessing TDE MACNO
reserved parameter P126 "Multiplication coefficient Kp and current loop"
There is dynamic decoupling between the direct axis and the orthogonal axis with a low default gain.
Should there be any doubts as to whether the dynamic decoupling is working properly, then it can be
disabled by setting C59=1.
32
Description Min
0.1
0.0
0.0
0.0
0.0
-800.0
-100
-100
-100
-100
-100
-100
-20
-400
Max Default
100.0 2.6
1000.0 8.5
25.0 0
200.0 100
200.0 0
0 1 0
800.0 40
100 0 % DRV_I_NOM
100 0 % DRV_I_NOM
100 0 % DRV_I_NOM
100 0 % DRV_I_NOM
100 0 % MOT_V_NOM
100 0 % MOT_V_NOM
0
0
0
20.0 0
400 0 % MOT_T_NOM
UM Scale
10
ms 10
ms 10
% 40.96
% 40.96
1
% TPWM 40.96
40.96
40.96
40.96
40.96
40.96
40.96
A rms 16
Hz 16
kW 16
Hz 40.96
40.96