Control - Danfoss VLT AutomationDrive FC 301 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.
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:
Par. 7-90 Position PI
Feedback Source
Profile
Commanded
generator
position
Speed
Acceleration
Illustration 4.6 Positioning and Synchronization Mode
M0013101
Programming Guide
7-9*
Par. 7-99
Position PI
Ctrl.
+
Par. 7-98
Position PI
Feed
Forward
Factor
Par. 1-69
System Inertia
Danfoss A/S © 10/2019 All rights reserved.
Par. 7-00 Speed PID
Feedback Source
4-1*
7-0*
Speed PID
Par. 7-08
Speed PID
Torque
Accel. Feed
Forward
Factor
Flux motor
+
control
317
4 4