Siemens SINAMICS S110 List Manual page 764

Closed-loop speed control, servo with encoder
n_set after
n_ctrl setp sum
filter
r1170
[1550.8]
n_pre-ctrl_1
p1430
(0)
n_pre-ctrl_2
[5020] Speed setpoint filter
and speed pre-control
[5030] Speed limiting
r1438
Speed actual value sensing
[4710]
n_set after filter
r0062
[5210] Closed-loop speed control, servo with encoder
n
f
[5300] V/f open-loop control for diagnostics
1 2
DO: SERVO
Overviews - Servo control, speed control and V/f control
[5050] Kp_n and Tp_n adaptation
Kp adaptation
r0062
Reference
model
Pre-control
symmetriz-
ation
n_act smooth Actual speed
n_act measured
value
r0063
n_act calculated
n_ctrl n_set
r1438
Acceleration
model
U
Ramp-function generator
3 4
Forming the
Tn adaptation
torque limits
[5620]...[5650]
n_act > p1404
Kp
n_ctrl
PI-M_output
0
r1480
[5040.8]
1
Tn
Integrator
Control
[5040] Speed controller
n_ctrl
PI-M_output
r1480
[5210.7]
U_quadrature
axis_set
r1733
[5714.8]
U_direct axis_set
r1732
[5714.8] Ud_set_3
[5060] Setpoint input, changeover of the closed-loop control type
p1400
f
. . .
[5490] Closed-loop speed
control, configuration
5
fp_1590_98_eng.vsd
28.10.08 V04.04.00
r1538
r1539
Torque
setpoint
p1300
Torque
pre-control
M_set before
21
M_limit
r1509
20
[5610] Torque limiting
Sampling times:
1000.00 μs
250.00 μs
250.00 μs
p1317
0
Uq
1
[5730.1]
0
Ud
1
r1407
r0056
. . .
. . .
[2522] Status word, [2526] Status word,
speed controller closed-loop control
6 7
Function diagram
SINAMICS S110
M_set_6
[1630.1]
Adaptation
Closed-loop
speed control
Closed-loop
current control
8
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