Tuning Pid Speed Control - GE AF-650 GP Design And Installation Manual

Application Setup Examples
Function
Check that the ramp settings are within drive capabilities
and allowed application operating specifications.
Set acceptable limits for the motor speed and frequency. F-18 Motor Speed
4) Configure the Speed Control and select the Motor Control principle
Activation of Speed Control
Selection of Motor Control Principle
5) Configure and scale the reference to the Speed Control
Set up Analog Input 53 as a reference source
6 6
Scale Analog Input 53 0 RPM (0 V) to 1,500 RPM (10 V)
6) Configure the 24 V HTL encoder signal as feedback for the Motor Control and the Speed Control
Set up digital input 32 and 33 as encoder inputs
Choose terminal 32/33 as motor feedback
Choose terminal 32/33 as Speed PID feedback
7) Tune the Speed Control PID parameters
Use the tuning guidelines when relevant or tune
manually
8) Finished!
Save the parameter setting to the keypad for safe
keeping
Table 6.17

6.5.1.1 Tuning PID speed control

The following tuning guidelines are relevant when using
one of the Flux motor control principles in applications
where the load is mainly inertial (with a low amount of
friction).
The value of PI-02 Speed PID Proportional Gain is
dependent on the combined inertia of the motor and load,
and the selected bandwidth can be calculated using the
following formula:
Total inertia k gm
Par PI
. − 02 =
NOTE!
P-07 Motor Power [kW] is the motor power in [kW] (i.e.
enter '4' kW instead of '4,000' W in the formula).
6-16
AF-650 GP
2
x par P
. − 06
x Bandwidth rad
Par P x
. − 07 9550
TM
Design and Installation Guide
Parameter Setting
F-07 Accel Time 1 default setting
F-08 Decel Time 1 default setting
0 RPM
Low Limit [RPM] 1,500 RPM
F-17 Motor Speed 60 Hz (default 132 Hz)
High Limit [RPM]
F-03 Max Output
Frequency 1
H-40 Configuration [1] Speed closed-loop
Mode
H-41 Motor [3] Flux w motor feedb
Control Principle
F-01 Frequency Not necessary (default)
Setting 1
AN-1# Not necessary (default)
E-05 Terminal 32 [0] No operation (default)
Digital Input
E-06 Terminal 33
Digital Input
H-42 Flux Motor Not necessary (default)
Feedback Source
PI-00 Speed PID Not necessary (default)
Feedback Source
PI-0# See the guidelines below
K-50 Keypad Copy [1] All to keypad
Generally, the practical maximum limit of PI-02 Speed PID
Proportional Gain is determined by the encoder resolution
and the feedback filter time, but other factors in the
application might limit the PI-02 Speed PID Proportional
Gain to a lower value.
To minimize the overshoot, PI-03 Speed PID Integral Time
could be set to approx. 2.5 s (varies with the application).
PI-04 Speed PID Differentiation Time should be set to 0 until
everything else is tuned. If necessary, finish the tuning by
experimenting with small increments of this setting.
s
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DET-767A