Siemens Sinumerik 840D Series Function Manual page 70

3 Startup
3.9 Fine adjustment and optimization
3-70
3. f >> f (f )

valve cylinder
The valve can actively influence all natural frequencies of the drive.
Amplitude log frequency curve
1
10
0
10
- 1
10
- 2
10
- 3
10
- 4
10
- 5
10
1
10
Phase frequency curve
-90
-180
-270
1
10
Fig. 3-24 Frequency response of controlled system (
The controller components are optimized in the following order:
1. P component (proportional component)
2. D component (derivative component)
3. I component (integral component)
The preferred method of optimization uses unit step functions (step response)
with the function generator (FG) after entering a velocity setpoint v
The measuring function with noise signals (FFT, PBRS) may be difficult to inter-
pret owing to non-linearities in the controlled system.
Differences in the characteristic data may be caused as follows:
S
Theor. valve: Real valve
S
Pipes: Control pressure = f(Q)
S
Additional valves; shut-off valves; filters; throttles (pressure measuring
plates)
SINUMERIK 840D/SIMODRIVE 611 digital, HLA Module (FBHLA) - 10.03 Edition
2 3
10 10
log f
2 3
10 10
log f
f
valve
 Siemens AG, 2003. All rights reserved
02.99
10.03
Valve:
fv=100 Hz; Dv=0.8
Drive:
fa=20 Hz; Da=0.1
>> f
)
cylinder
.
set