Speed Control - KEB COMBIVERT F5 MULTI Applications Manual

Functional Desription

6.6.11 Speed Control

Actual source (cS.1)
KP speed (cS.6)
KP speed gain (cS.7)
KP speed limit (cS.8)
Fig. 6.6.11 Mode of functioning of the speed controller
Picture A
KP factor
cS.8
cS.6
KI speed (cS.9)
KI offset (cS.10)
Max. speed for max. KI (cS.11)
Min. speed for cS.9 (cS.12)
Stand still position control
Chapter Section Page
6 6 14
The speed controller consists of a PI-controller, at which the P-factor is system-
deviation-dependent (see picture A) and the I-factor is speed-dependent (see
pictur†B).
Selection of the source of actual speed value. Following possibilities are selectable:
0
1
The proportional factor of the speed controller is adjusted in these parameters. In
addition to the standard KP-value a system-deviation-dependent proportional gain
can be adjusted with cS.7 and cS.8. With it the dynamic performance can be
improved and overshootings can be dampened.
cS.7 defines to what extent the control deviation affects the proportional factor.
cS.8 limits the proportional factor.
Exception: If the standard KP-value (cS.6) is larger than the limit value cS.8, then
the proportional factor is = cS.6.
cS.7
Xd(n)
These parameters define the integral factor of the speed controller. To achieve a
better speed rigidity at small speeds and in standstill the KI-factor can be varied in
dependence on the speed (cS.11, cS.12).
ï cS.9 forms the base value
ï the maximum KI-value is cS.9 + cS.10
ï the two corner speeds cS.11 and cS.12 define in which speed range the
KI-value is changed
To improve the standstill rigiditiy of the drive a standstill position control can be
adjusted. The position control becomes active when actual and setpoint speed
(cS.24)
have reached the value 0†rpm . The position control is deactivated as soon as the
setpoint speed has reached a value of <> 0†rpm or when the control release is not
given.
The setpoint position, onto which the drive controls, is the position value at which
the condition actual and setpoint speed=0†rpm exists for the first time (at given
control release).
At Posi-/Synchron running (PS.0 ≠ 0) the position controller cannot be activated.
The proportional factor of the position controller is adjusted in cS.24. A value of 0
deactivates the controller.
Date Name: Basis
12.05.04 KEB COMBIVERT F5-M / S
Motor Data and Controller
encoder channel 1
encoder channel 2
KI factor
cS.9 +cS.10
cS.9
cS.11
Picture B
act. speed
cS.12
© KEB Antriebstechnik, 2002
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