Optimise Speed Controller - Lenze L-force HighLine C 8400 Series Reference Manual

8400 HighLine C | Reference manual
Motor control (MCTRL)
Sensorless vector control (SLVC)
5.7.4.2

Optimise speed controller

The speed controller is designed as a PI controller.
 In the Lenze setting, the configuration of the speed controller provides robustness and
moderate dynamics.
Parameter
C00070/1
C00071/1
Speed controller gain Vp
The gain Vp (C00070/1) of the speed controller is defined in a scaled representation which
enables a comparable parameterisation almost independent of the power of the motor or
inverter. Here, the speed input difference of the controller is scaled to the rated motor
speed whereas the output torque refers to the rated motor torque. A gain of 10 means that
a speed difference of 1 % is gained through the P component with 10 % torque.
If the rated data of the motor and the mass inertia of the drive system are known, we
recommend the following setting:
V = Gain of the speed controller (C00070/1)
P
T = Time constant for the acceleration of the motor
M
M = Rated motor torque
N
n = Rated motor speed
N
J = Total moment of inertia of the drive
drive, total
[5-10] Recommendation for the setting of the gain of the speed controller

Tip!
Values recommended by Lenze for the setting of the (proportional) gain:
• For drive systems without feedback: Vp = 6 ... 25
• For drive systems with a good disturbance behaviour: Vp > 15
In this case, we recommend the optimisation of the dynamic performance of
the torque controller.
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Info
SLVC: Vp speed controller
SLVC: Ti speed controller
T s [ ]
M
V ≈ 1.5 ... 3 ⋅
------------------ -
P
0.01 s [ ]
2 π n ⋅ ⋅ [ rpm
N
T s [ ] ------------------------------------- - J
=
M
M Nm ] 60
[ ⋅
N
P W ] 60
[ ⋅
N
M [ Nm ]
= ------------------------------------- -
N
2 π n ⋅ ⋅ [ rpm
N
L
]
2
⋅ [ kgm ]
Drive, total
]
Firmware ≤ 11.00 - DMS 6.0 EN - 10/2011
Lenze setting
Value Unit
15.00
100.0 ms