Rockwell Automation WebPak 3000 DC Drive Application Workbook Version 1.1 - Manual (Page 24)

3-14 WebPak 3000 DC Drive Application Workbook, Version 1.1
▲
Set SPD LEADLAG SELECT (P.216) to compensate for backlash in the drive-train
gears and couplings. The choices are:
LEAD / LAG - SPD LEADLAG LOW FREQ (P.214) specifies the lag break frequency.
BYPASS - The lead/lag block is bypassed and the feedback signal is used
directly by the speed loop summing junction.
LAG / LEAD - SPD LEADLAG LOW FREQ (P.214) specifies the lead break frequency.
þ If SPD LEADLAG SELECT (P.216) = LEAD / LAG or LAG / LEAD :
▲ Set SPD LEADLAG LOW FREQ (P.214).
▲ Set SPD LEADLAG RATIO (P.213) to specify the ratio between the low and
high break frequencies. The selection of the high and low break
frequencies is dependent on the mechanical characteristics of the drive
train.
3.5 Speed Loop Regulator With Gain Profiling
Refer to figure A.7 in Appendix A of the software manual (D2-3444) as you configure
the speed loop regulator with gain profiling.
Output parameters FIELD REFERENCE (P.590) and INSTANTANEOUS INERTIA (P.230) are
inputs to the gain profiler block. They both have dynamic values that are calculated by
the field shaping and inertia calculator tasks, respectively.
The gain profiler calculates and outputs to the speed loop PI amplifier values for the
proportional gain ( KP ) and the integral gain ( WLD ).
The third gain profiler output is SPEED CROSS OVER (P.133), which is used as an input
to the position and current major outer control loop gain profilers.
The last gain profiler output is SPD LOOP LAG FREQ (P.215), which provides a low pass
frequency filter at the output of the speed loop PI block. A positive or negative step
input to the LAG block drives the output to increase or decrease its value with respect
to the input. A lower lag frequency will exhibit a slower step response than a higher
one.
þ
To configure gain profiling:
▲
Set SPEED PROFILER ENABLE (P.127). The choices are:
ENABLE - Use for all variable diameter applications. The profiler block uses
equations that are based on the dynamic physical properties of connected
load; therefore, a robust speed regulator that maximizes system response and
stability can be expected.
DISABLE - Use for all constant diameter applications.
Range: LEAD / LAG , BYPASS , LAG / LEAD P.216 =
Range: 0.01 to 34.90 RAD / S or 0.01 to 69.81 RAD / S P.214 = RAD / S
Range: 2 to 20 P.213 =
Range: ENABLE , DISABLE P.127 =