Sinamics S Tuning学习教案

会计学1Sinamics S Tuning第一页，共36页。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.第1页/共36页第二页，共36页。Start the axis and then Run Trace and use X Cursor to find Frequency of 1st Pole 第2页/共36页第三页，共36页。Record Frequency for use in next section第3页/共36页第四页，共36页。Open Current Setpoint Filter and use Previous value for Notch Frequency.第4页/共36页第五页，共36页。Use this Measuring Function Choice for Next StepSelect 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.第5页/共36页第六页，共36页。Start the axis and Measuring function again.Now adjust the Current controller gain and Int.times to achieve the desired responseP1715=gain P1717=int.time.第6页/共36页第七页，共36页。Note the default value for the gain and integration time第7页/共36页第八页，共36页。Adjust Kp and Tn from the default values 第8页/共36页第九页，共36页。Notice the Overshoot in the Current Actual第9页/共36页第十页，共36页。Adjust current curve to desired value 第10页/共36页第十一页，共36页。Curve example on DEMO drive 第11页/共36页第十二页，共36页。Values used in Last Example Curves -optimized Current Controller settings第12页/共36页第十三页，共36页。Note Default Value of n(speed)Controller and set Tn to 100msExpand the Open-loop/closed-loop control below the drive.Double click the Speed controller.第13页/共36页第十四页，共36页。Closed Speed Controller Measuring Function Time DomainSelect the fifth Measuring function from the drop down list.This function is used to optimize the Speed Controller parameters第14页/共36页第十五页，共36页。Observe Curves for Overshoot or Delay Starting values for this example:P gain p14600=0.100 Nms/radReset time p14620=100 ms第15页/共36页第十六页，共36页。Ensure Torque Limits are not exceeded during speed step response 第16页/共36页第十七页，共36页。Adjust Kp and Tn to desired value 第17页/共36页第十八页，共36页。Adjust Kp and Tn for Desired Results Speed Controller settings this example:P gain p14600=0.200 Nms/radReset time p14620=50 msSpeed controller optimized,and torque limit not exceeded第18页/共36页第十九页，共36页。Closed Speed Controller Measuring Function Frequency DomainSelect 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.第19页/共36页第二十页，共36页。Measurement of Closed Speed Controller Bode Diagram Frequency Domain Only P-controlled Kp=p14600 Nms/rad Kp=0.04 Nms/rad,Kp=0.1 Nms/rad,Kp=0.2 Nms/rad,Tn=1000 msHigher Kp gain increases the band width of the controllerRed:Peak above 0 dB Controller can start oscillating!第20页/共36页第二十一页，共36页。Higher Kp gain increases the band width of the controller shorter rise time(see step response)第21页/共36页第二十二页，共36页。Reference model too small fref=60 HzThe Reference model can be used to dampen the initial overshoot with an aggressive Kp setting.第22页/共36页第二十三页，共36页。Step 1:Switch on the speed additional set-point from the axis System variableAxis.servosettings.additionalcommandvalueswitch=YESCAUTION:Remember to deactivate this setting upon completion of the position tuning.Closed Position Controller -Axis Position TuningStep 2:Setup a temporary program to enable the axis to allow the function generator to enable movement of the axis.第23页/共36页第二十四页，共36页。Open the Expert list of the Axis for balanceFilterMode,kpc,and preCon TypeOfAxis.NumberOfDataSets.ControllerStruct.PV_Controller.balanceFilterMode1.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.123Step 3:Open the expert list and initialize the PV_Controller variables shown below.第24页/共36页第二十五页，共36页。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第25页/共36页第二十六页，共36页。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第26页/共36页第二十七页，共36页。Adjust the Positioning window and the Standstill window to prevent function fromGenerating a Standstill error.Rotary axis will be in degrees.第27页/共36页第二十八页，共36页。Step 6:Configure a trace with the axis data as shown below.第28页/共36页第二十九页，共36页。Kpc=0.0%Kv=10,Following error 0.4Step 6:Run the initial trace and note the Following error readings.第29页/共36页第三十页，共36页。Kpc=100.0%Kv=10,Following error 0.016Step 7:Optimize the performance by setting Kpc Weighting factor of the precontrol to 100%第30页/共36页第三十一页，共36页。Step 8:Continue to optimize the performance with adjustments to the Kv value.Kpc=100.0%Kv=40,Following error 0.016第31页/共36页第三十二页，共36页。Kpc=100.0%Kv=80,Following error 0.016第32页/共36页第三十三页，共36页。Kpc=100.0%Kv=200,Following error 0.012 Axis movement may be to stiff for mechanical connections with this Kv第33页/共36页第三十四页，共36页。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=100.0%Kv=200,Following error 0.2 Axis movement may be to stiff for mechanical connections with this Kv第34页/共36页第三十五页，共36页。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 第35页/共36页第三十六页，共36页。