Elmomc SimplIQ Digital Servo Drives-Bell Getting Started Manual de usuario Pagina 4
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The SimplIQ for Steppers Getting Started & Tuning and Commissioning Guide
MAN-BELGS (Ver. 1.1)
4
Chapter 4:Advanced Control Tuning.....................................................................................52
4.1 Start Step Control......................................................................................................52
4.2 Identification .............................................................................................................52
4.2.1 Identification and Uncertainty............................................................................................53
4.2.2 Identification Results Management....................................................................................53
4.2.3 Identification Work Point.....................................................................................................54
4.2.4 Selecting the Identification Frequencies.............................................................................55
Appendix A: Manual Tuning of Speed and Position Control....................................60
A.1 Scope...........................................................................................................................60
A.2 Safety..........................................................................................................................60
A.3 Make it Simple...........................................................................................................61
A.4 Keep Margins ............................................................................................................62
A.5 The Basic Concepts...................................................................................................62
A.5.1 Fixed- vs. Gain-scheduled Controllers...............................................................................62
A.5.2 Resonance and Notch Filters...............................................................................................63
A.5.3 High Frequency Noise and Low-pass Filters....................................................................63
A.5.4 Evaluating a Step Response – Rise Time, Settling Time, and Overshoot......................64
A.6 The Example System.................................................................................................65
A.7 Testing the Response of a Controller......................................................................66
A.7.1 Current Limits .......................................................................................................................66
A.7.2 Recording the Experiment Results......................................................................................66
A.8 Fixed Gain Manual Tuning for a Speed Loop........................................................67
A.8.1 Manual Tuning of a PI Controller.......................................................................................67
A.8.2 Manual Tuning of a PI Controller and a Low Pass Filter................................................72
A.8.3 Manual Tuning of a PI Controller and a Notch Filter......................................................74
A.9 Executing Manual Tuning for a Cascaded Position Controller............................78
A.10 Manual Tuning of Gain Scheduling........................................................................79
A.10.1 Manual Gain Scheduling......................................................................................................79
A.10.2 Automatic Gain Scheduling.................................................................................................80
Appendix B: A Short Course in Linear Control............................................................82
B.1 Linear Systems and Transfer Functions..................................................................82
B.2 Mathematical Models for LTI Systems...................................................................83
B.3 Motor Systems Models.............................................................................................85
B.3.1 A Simple Model.....................................................................................................................85
B.3.2 Model with Flexible Transmission (resonance) ................................................................86
B.4 Feedback Control......................................................................................................90
B.4.1 Why Feedback is Required ..................................................................................................90
B.4.2 Open Loop, Gain Margin and Phase Margin, Bandwidth and Stability .......................91
B.4.3 P, PD, PI and PID Controllers..............................................................................................92
- SimplIQ for Steppers 1
- Revision History: 2
- Contents 3
- Chapter 1: Introduction 5
- Support Software 6
- Audience and Objective 6
- Prerequisite 6
- Danger and Warning Symbols 6
- 1.1 Qualified Personnel 7
- Chapter 2: Elements 8
- MAN-BELGS (Ver. 1.1) 10
- 2.2.1 Flash, RAM and Tables 13
- 2.3 Firmware 15
- 2.4 The Conductor Wizard 17
- 2.4.2 The Expert List 18
- 3.1 Introduction 21
- 3.2.1 Brakes 22
- 3.2.2 Application Limits 23
- 3.2.2.1 Speed Limits 24
- 3.2.2.2 Position Limits 24
- 3.3 Set up the Sensors 25
- 3.3.1 Setting up Sensor #1 26
- Figure 27: Sensor #2 setup 27
- The following window opens: 29
- 3.5 Commutation 30
- 3.6 Motion Tuning 32
- Figure 34: Motion tab 33
- Motor calculator tool 34
- 3.6.3.2 Identification 38
- 3.6.3.3 Design 40
- The design 40
- Figure 43: Complete design 42
- 3.6.3.4 Verification 43
- )(T θ where θ is the 45
- )(T θ 45
- 3.8 Database Maintenance 51
- 3.6.3 52
- 1. A PI speed controller 60
- A.3 Make it Simple 61
- A.4 Keep Margins 62
- A.5 The Basic Concepts 62
- Time, and Overshoot 64
- A.6 The Example System 65
- A.7.1 Current Limits 66
- The steps are: 67
- KI=20000,KP=30 71
- KI=16000,KP=30 71
- Reference 71
- Speed 74
- Position Controller 78
- Linear Control 82
- () () () 83
- B.3 Motor Systems Models 85
- Motor Load 86
- B.4 Feedback Control 90
- Bandwidth and Stability 91
- )/()( bsas ++ 92
- () ()()()()()()() 93
- &&&& 94
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