Control Loops - Danfoss VLT AutomationDrive FC 302 Programming Manual

Integrated Motion Controlle...
4.3 Control

4.3.1 Control Loops

In positioning and synchronization mode, 2 extra control loops control the motor in addition to the motor controller
running flux control principle, sensorless, or with motor feedback. The position PI controller is the outer loop providing the
setpoint for the speed PID, which provides the reference for the motor controller. For a closed loop, feedback source can be
selected individually for each of 3 controllers.
4 4
For sensorless control principle, select [0] Motor feedb. P1-02 in the following parameters:
•
Speed PID: Parameter 7-00 Speed PID Feedback Source.
•
Position PI: Parameter 7-90 Position PI Feedback Source.
With this set-up, both controllers use the motor angle calculated by the motor controller. Illustration 4.6 shows the control
structure and parameters affecting the control behavior:
Profile
generator
Illustration 4.6 Positioning and Synchronization Mode
258
VLT
Par. 7-90 Position PI
Feedback Source
Commanded
7-9*
position
Position PI
Ctrl.
+
Par. 7-98
Speed
Position PI
Feed
Forward
Factor
Acceleration
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®
AutomationDrive FC 301/302
Par. 7-00 Speed PID
Feedback Source
Par. 7-99 4-1*
Torque
Par. 1-69
System Inertia
7-0*
Speed PID
Flux motor
+
Par. 7-08
Speed PID
Accel. Feed
Forward
Factor
control
MG33MP02