structure
Keypad and
format
Advanced
parameter
descriptions
Serial comms
0:
user
setup
With the default value the user should enter the required speed controller gains.
1:
Bandwidth
setup
If bandwidth based setup is required the following parameters must be set correctly: Pr
3.20
= required bandwidth, Pr
3.21
= required damping factor,
Pr
3.18
= motor + load inertia (it is possible to measure the load inertia as part of the auto-tuning process, see Pr
5.12
on page 75), Pr
5.32
= motor
torque per amp.
Ki = J / (Kc x Kt) x (2 x Bandwidth / Kbw)
2
= Pr
3.18
/ (rated drive current x Pr
5.32
) x (2 x Pr
3.20
/ Kbw)
2
Where: Kbw = [ (2
2
+ 1) +((2
2
+ 1)
2
+ 1) ]
Kp = 2 [(Ki x J) / (Kc x Kt)] = 2 [(Pr
3.11
{
SP02,
0.62
} x Pr
3.18
) / (rated drive current x Pr
5.32
)]
2:
Kp
gain
times
16
If this parameter is set to 2 the Kp gain (from whichever source) is multiplied by 16. This is intended to boost the range of Kp for applications with very
high inertia. It should be noted that if high values of Kp are used it is likely that the speed controller output will need to be filtered (see Pr
4.12
) or the
speed feedback will need to be filtered (see Pr
3.42
). If the feedback is not filtered it is possible the output of the speed controller will be a square
wave that changes between the current limits causing the integral term saturation system to malfunction.
torque feed-forward terms during acceleration when required (see Pr
4.11
). It is possible to measure the inertia as part of the autotune process, see
Pr
5.12
{
SE13,
0.34
}.
point the phase shift is approximately 60°. This parameter is used to define the bandwidth used for setting up the speed loop gain parameters
automatically when Pr
3.17
= 1.
torque transient is critically damped. The step response of the speed controller gives approximately 10 % overshoot with unity damping factor.
48
Mentor MP Advanced User Guide
www.onxcontrol.com
Issue Number: 4
3.18
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