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Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position.

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Presentation on theme: "Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position."— Presentation transcript:

1 Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position Controller Tuning Engineering-Software SIMOTION SCOUT

2 Automation and Drives SINAMICS_S120 Set the Speed controller gain to 0.1(P1460) and int. time to 100msec (P1462). Now select measuring Function 1 from the drop Down Choice The axis will travel in the positive direction with readings started after the offset. Reduce the travel with a lower Measuring periods. Start with the first Measuring function from the drop down list. This function is used to locate the frequency of the Current set point bandwidth filter.

3 Automation and Drives SINAMICS_S120 Start the axis and then Run Trace and use X Cursor to find Frequency of 1st Pole

4 Automation and Drives SINAMICS_S120 Record Frequency for use in next section

5 Automation and Drives SINAMICS_S120 Open Current Setpoint Filter and use Previous value for Notch Frequency.

6 Automation and Drives SINAMICS_S120 Use this Measuring Function Choice for Next Step Select the last Measuring function from the drop down list. This function is used to optimize the Current Controller P Gain (p1715) and reset (p1717) parameters.

7 Automation and Drives SINAMICS_S120 Start the axis and Measuring function again. Now adjust the Current controller gain and Int. times to achieve the desired response P1715 = gain P1717 = int. time.

8 Automation and Drives SINAMICS_S120 Note the default value for the gain and integration time

9 Automation and Drives SINAMICS_S120 Adjust Kp and Tn from the default values

10 Automation and Drives SINAMICS_S120 Notice the Overshoot in the Current Actual

11 Automation and Drives SINAMICS_S120 Adjust current curve to desired value

12 Automation and Drives SINAMICS_S120 Curve example on DEMO drive

13 Automation and Drives SINAMICS_S120 Values used in Last Example Curves - optimized Current Controller settings

14 Automation and Drives SINAMICS_S120 Note Default Value of n (speed) Controller and set Tn to 100ms Expand the Open-loop /closed-loop control below the drive. Double click the Speed controller.

15 Automation and Drives SINAMICS_S120 Closed Speed Controller Measuring Function – Time Domain Select the fifth Measuring function from the drop down list. This function is used to optimize the Speed Controller parameters

16 Automation and Drives SINAMICS_S120 Observe Curves for Overshoot or Delay Starting values for this example: P gain p1460[0] = Nms/rad Reset time p1462[0] = 100 ms

17 Automation and Drives SINAMICS_S120 Ensure Torque Limits are not exceeded during speed step response

18 Automation and Drives SINAMICS_S120 Adjust Kp and Tn to desired value

19 Automation and Drives SINAMICS_S120 Adjust Kp and Tn for Desired Results Speed Controller settings this example: P gain p1460[0] = Nms/rad Reset time p1462[0] = 50 ms Speed controller optimized, and torque limit not exceeded

20 Automation and Drives SINAMICS_S120 Closed Speed Controller Measuring Function – Frequency Domain Select the first Measuring function from the drop down list. This function is used to optimize the Speed Controller parameters in the Frequency Domain. This is an optional step to ensure the Kp value derived above does not produce a bode diagram that raises above the 0db line.

21 Automation and Drives SINAMICS_S120 Measurement of Closed Speed Controller – Bode Diagram – Frequency Domain Only P- controlled Kp = p1460[0] Nms/rad Kp=0.04 Nms/rad, Kp=0.1 Nms/rad, Kp=0.2 Nms/rad, Tn =1000 ms Higher K p gain increases the band width of the controller Red: Peak above 0 dB Controller can start oscillating!

22 Automation and Drives SINAMICS_S120 Comparison of Time Domain and Frequency Domain – Kp=0.04 Nms/rad, Kp=0.1 Nms/rad, Kp=0.2 Nms/rad, Tn =1000 ms Higher K p gain increases the band width of the controller shorter rise time (see step response)

23 Automation and Drives SINAMICS_S120 Reference Model –Red: K p = 0.15 Nms/rad, T n 6 ms, f ref = 250 Hz, D = –Green:K p = 0.15 Nms/rad, T n 6 ms,f ref = 60 Hz, D = –Blue:K p = 0.15 Nms/rad, T n 6 ms, f ref = 130 Hz, D = Reference model too small f ref = 60 Hz The Reference model can be used to dampen the initial overshoot with an aggressive Kp setting.

24 Automation and Drives SINAMICS_S120 Step 1: Switch on the speed additional set-point from the axis System variable Axis.servosettings.additionalcommandvalueswitch = YES CAUTION: Remember to deactivate this setting upon completion of the position tuning. Closed Position Controller - Axis Position Tuning Step 2: Setup a temporary program to enable the axis to allow the function generator to enable movement of the axis.

25 Automation and Drives SINAMICS_S120 Open the Expert list of the Axis for balanceFilterMode, kpc, and preCon TypeOfAxis.NumberOfDataSets.ControllerStruct.PV_Controller.balanceFilterMode 1.Select the entries as shown above in the Next value column. 2.Switch the expert list to the System variables tab. 3.Select the restartactivation entry as activate_restart. Click back on the Configuration data tab to have the entries accepted into the Current value. See the next slide for the result Step 3: Open the expert list and initialize the PV_Controller variables shown below.

26 Automation and Drives SINAMICS_S120 Step 4: Initialize DynamicData with zero values for positionTimeConstant, torqueTimeConstant, and velocityTimeConstant. Step 3: The values from previous slide are now in the current value column

27 Automation and Drives SINAMICS_S120 Adjust the Amplitude to limit the travel of the oscillating axis. Step 5: Configure the function generator to the Signal Name: Triangular with a carefully selected Amplitude and Period

28 Automation and Drives SINAMICS_S120 Adjust the Positioning window and the Standstill window to prevent function from Generating a Standstill error. Rotary axis will be in degrees.

29 Automation and Drives SINAMICS_S120 Step 6: Configure a trace with the axis data as shown below.

30 Automation and Drives SINAMICS_S120 Kpc = 0.0 % Kv = 10, Following error 0.4 Step 6: Run the initial trace and note the Following error readings.

31 Automation and Drives SINAMICS_S120 Kpc = % Kv = 10, Following error Step 7: Optimize the performance by setting Kpc Weighting factor of the precontrol to 100%

32 Automation and Drives SINAMICS_S120 Step 8: Continue to optimize the performance with adjustments to the Kv value. Kpc = % Kv = 40, Following error 0.016

33 Automation and Drives SINAMICS_S120 Kpc = % Kv = 80, Following error 0.016

34 Automation and Drives SINAMICS_S120 Kpc = % Kv = 200, Following error Axis movement may be to stiff for mechanical connections with this Kv

35 Automation and Drives SINAMICS_S120 This trace shows the same Position tuning values with the period decreased to 800 ms. The overall spike in the following error can be reduced with adjustments to Kpc, though; this introduces a greater average following error. Kpc = % Kv = 200, Following error 0.2 Axis movement may be to stiff for mechanical connections with this Kv

36 Automation and Drives SINAMICS_S120 Important parameters for the tuning in Simotion Cycle time DP-, Servo- and IPO-cycle time DSC needed Telegram 105 Kv position controller-amplification Kpc Pre-control FIPO Fine interpolation type VelocityTimeConstant (vTc) Symmetry filter time constant (PT1-Glied) PositionTimeConstant (pTc) Position extrapolation time


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