Rockwell Automation Allen-Bradley PowerFlex 755T Flux Vector Tuning User Manual

36 Rockwell Automation Publication 750-AT006D-EN-P - January 2022
Chapter 2 Product Features
Figure 36 - Adaptive Tuning Configuration
All torque filter parameters go through adaptive tuning so that adaptive tuning can take control of these filters when required. Parameter
settings are summarized in Table 11
, along with descriptions of how they work in various modes of operation.
Table 11 - Adaptive Tuning Settings
Parameter No. Parameter Name Description
10:2110 [AdptTune Config]
Adaptive Tuning
Configuration
Select the adaptive tuning mode of
operation. See Adaptive Tuning Modes
on
page 40 for a detailed description of each
mode.
• Disabled (0) - Disables the Tracking Notch, Gain
Stabilization, and Gain Optimization modes.
– Even when disabled, adaptive tuning continues to
identify resonant frequencies and magnitudes,
which are useful for manual tuning of notch filters.
• Tracking NF (1) - Tracking Notch Filter mode
automatically tunes the torque notch filters according
to the number of tracking notch filters selected by
10:2118 [AdptTune NF Num].
• Gain Stb (2) - Gain Stabilization mode compensates for
instability by automatically tuning the torque low pass
filter bandwidth and detuning position, velocity, and
load observer regulator gains.
• TrkNFGainStb (3) - Enables Tracking Notch Filter and
Gain Stabilization modes.
• Gain Opt (11) – Gain Optimization mode uses all
Adaptive Tuning modes to automatically optimize
tuning for best performance.
10:2111 [Trq NF Threshold]
Torque Notch Filter
Tuning Threshold
Adaptive tuning identifies resonances that are not associated with command signals between these
low and high frequency limits with magnitudes above this tuning threshold.
• Any time 10:906 [System BW] is changed, the low limit should be adjusted to at least 2…3 times the
value of 10:906 [System BW].
10:2112 [Trq NF Freq LLim]
Torque Notch Filter
Low Frequency Limit
10:2113 [Trq NF Freq HLim]
Torque Notch Filter
High Frequency Limit
10:2114 [Trq NF WidthMin]
Torque Notch Filter
Minimum Width
The adaptive tuning Tracking Notch function adjusts torque notch filter widths proportional to the
frequency estimate in relation to the high and low frequency limits.
• It sets torque notch filter widths equal to minimum width when the frequency estimate is equal to
the low frequency limit.
• It sets torque notch filter widths equal to maximum width when the frequency estimate is equal to
the high frequency limit.
• Default setting is 0.707 for minimum and maximum width.
10:2115 [Trq NF WidthMax]
Torque Notch Filter
Maximum Width
10:2116 [Trq LPF BW LLim]
Torque Low Pass Filter
Bandwidth Low Limit
The adaptive tuning Gain Stabilization function incrementally decreases the actual torque low pass
filter bandwidth to stabilize the system if necessary or until the actual torque low pass filter bandwidth
equals this low limit.
10:2118 [AdptTune NF Num]
Adaptive Tuning Tracking
Notches
Enter the number of torque notch filters that are automatically tuned by Adaptive Tuning when 10:2110
[AdptTune Config] = TrackingNF or TrkNFGainStb.
2080
Trq Ref Filtered
Torque
Lead
Lag
Filters
Torque
Low
Pass
Filter
Torque
Notch
Filter
1
Torque
Notch
Filter
2
Torque
Notch
Filter
3
Torque
Notch
Filter
4
2152
2153
Trq LLF BW
Trq LLF Gain
Trq NF3 Freq Act
Trq NF3 Depth Act
Trq NF3 Width Act
Trq NF3 Gain Act
2180
2184
2182
2186
Trq NF2 Freq Act
Trq NF2 Depth Act
Trq NF2 Width Act
Trq NF2 Gain Act
2170
2174
2172
2176
Trq NF4 Freq Act
Trq NF4 Depth Act
Trq NF4 Width Act
Trq NF4 Gain Act
2190
2194
2192
2196
Trq Ref Filt In
2150
2156
Trq LPF BW Act
2160
2164
2162
2166
Trq NF1 Freq Act
Trq NF1 Depth Act
Trq NF1 Width Act
Trq NF1 Gain Act
2159
2163
2161
2165
2169
2171
2173
2175
Trq NF3 Freq
Trq NF3 Depth
Trq NF3 Width
Trq NF3 Gain
2179
2183
2181
2185
Trq NF4 Freq
Trq NF4 Depth
Trq NF4 Width
Trq NF4 Gain
2189
2191
2193
2195
AdptTune Config
2110
Trq NF Freq LLim
2118
2116
2112
2113
2114
2111
Trq NF Freq HLim
Trq NF Threshold
Trq NF WidthMin
Trq NF WidthMax
AdptTune NF Num
2115
Trq LPF BW LLim
Trq NF1 Freq
Trq NF1 Depth
Trq NF1 Width
Trq NF1 Gain
Adaptive Tuning
Note: User Trq NF and Selected LPF gains pass through as Active gains when Adaptive Tuning is disabled.
Trq NF Wdth Est
2125
Trq NF2 Freq
Trq NF2 Depth
Trq NF2 Width
Trq NF2 Gain
u Trq LPF BW
2155
Trq NF Mag Est
2124
000
= Read Only
000
= User Entered
AdptTuneStabMag
2130
AdptTuneStabFreq
2129
GnOpt Error Max
2138
2119
AdptTuneMinScale
GnStab TorqueLim
2134
GnOpt Scale Inc
2141
2140
2136
2137
2135
GnOpt Error Type
GnOpt TorqueLim
GnOptPosErrThrsh
GnOptSclHiLim
2139
GnOptVelErrThrsh
2142
GnOpt Time
2154
c T rq LPF BW
AdptTune GnScale
2121
AdptTune Status
2120
Trq NF Freq Est
2123

Rockwell Automation Allen-Bradley PowerFlex 755T Flux Vector Tuning Specifications

General

Brand	Rockwell Automation
Model	Allen-Bradley PowerFlex 755T Flux Vector Tuning
Category	Industrial Equipment
Language	English