1 optimise current controller, Optimise current controller, 5motor control (mctrl) – Lenze 8400 HighLine User Manual
Page 238
5
Motor control (MCTRL)
5.9
Servo control (SC)
238
Lenze · 8400 HighLine · Referenzhandbuch · DMS 10.0 EN · 06/2014 · TD05/TD14
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Special cases may require further optimisation steps:
Tip!
In order to traverse a typical speed profile for optimisation of motor control, you can also
use the basic function "
" with appropriately adapted manual jog parameters if
this basic function is supported by the selected technology application.
5.9.4.1
Optimise current controller
An optimisation of the current controller is sensible since the two control parameters gain (
and reset time (
) depend on the required maximum current and the set switching
frequency.
• Gain and reset time can be calculated as per the following formulae:
Optimisation steps
1.
Setting the current setpoint filter (band-stop filter)
• In order to suppress or damp (mechanical) resonant frequencies, a current setpoint filter is integrated in
the speed control loop which is switched off in the default setting but can be parameterised accordingly,
if required.
Then readjust the speed controller:
2.
Adapting the max. acceleration change (jerk limitation)
3.
Optimising the behaviour in the field weakening range
Note!
An optimisation of the current controller should generally be carried out unless a power-
adapted standard asynchronous motor is used or the motor has been selected from the
motor catalogue of the »Engineer«!
Parameter
Info
Lenze setting
Value Unit
Vp current controller
7.00 V/A
Ti current controller
10.61 ms
V
p
= Current controller gain (
T
i
= Current controller reset time (
)
L
ss
= Motor stator leakage inductance (
)
R
s
= Motor stator resistance (
)
T
E
= Equivalent time constant (= 500 μs)
V
p
L
ss
H
[ ]
T
E
s
[ ]
----------------
=
T
i
L
ss
H
[ ]
R
s
Ω
[ ]
----------------
=