Optimizing The Current And Speed Controller - Siemens SINAMICS S120 Function Manual

5.13

Optimizing the current and speed controller

Overview
The following tools are available for tuning the controllers:
● Function generator in the commissioning tool
● Trace in the commissioning tool
● Measuring function in the commissioning tool
● Measuring sockets on the Control Unit
Perform optimizations
Note
The optimization of the controller may only be performed by specialists with knowledge of
control technology.
Current controller
The current controller is initialized when the system is commissioned for the first time and is
adequately tuned for most applications.
Speed controller
The speed controller is set in accordance with the motor moment of inertia when the motor is
configured for the first time. The calculated proportional gain is set to approximately 30% of the
maximum possible gain in order to minimize vibrations when the controller is mounted on the
mechanical system of the machine for the first time. The integral time of the speed controller is
always preset to 10 ms. To achieve the full dynamic response, the following parameters must
be optimized:
● Increase the proportional gain K
● Change the integral time T
Automatic controller setting for the speed controller (frequency response analysis)
The automatic speed controller setting has the following features:
● Section identification using FFT analysis
● Automatic setting of filters in the current setpoint arm (e.g. for damping resonance)
● Automatic setting of the controller (gain factor K
The automatic controller settings can be verified with the measuring functions.
Drive functions
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
5.13 Optimizing the current and speed controller
(p1460)
p_n
(p1462)
n_n
, integral time T
p
Servo control
)
n
135