Configuration for Experienced Users (Advanced Configuration)
This configuration is not required for standard controller optimization. It is suitable for users who want to work in-depth with control technology and configure the drive optimally for their application.
Exception: If the drive tends to oscillate severely, it may be necessary to deviate from the default setting to reach stable control performance.
You use this setting to select the section of the controller to be optimized. The optimization mode cannot be changed during optimization.
The following options are available:
|
Element |
Description |
|---|---|
|
Button Velocity control loop |
The velocity controller parameters Vel_P_Gain, Vel_I_Gain, VelFilter and CurrRefFilter are optimized. The current controller should already be parameterized correctly (usually with standard values). |
|
Button Notch filter |
During the optimization of the speed controller parameters the NotchFilter parameters are optimized also. The parameters NotchFilterDamping, NotchFilterFrequency and NotchFilterBandwidth are determined. With the NotchFilter the mechanical feedback is damped with the highest amplitude. To permanently achieve good controller settings with the NotchFilter the frequency and amplitude of this feedback has to be constant. |
|
Button Position control loop |
The Pos_P_Gain position control parameter is optimized. Good controller parameters should have already been found for the speed controller or the Velocity control loop button should be activated. |
|
Button Mechanical parameters |
By rotary drives the mechanical parameters J_Load, StaticFriction and ViscousFriction are optimized. By linear drives the mechanical parameters LoadInertiaLinear, StaticFrictionLinear and ViscousFrictionLinear are optimized. Good controller parameters should have already been found for the control loops or the buttons Position control loop and Velocity control loop should be activated. |
|
Button Start with default control loop parameters |
By clicking this button you can change the start values for optimization. oRed: Optimization is started with the current control parameters. Ensure that the controller with the selected parameters is stable! oGreen: The controller is started with default parameters. The parameters J_Gear and J_Load or LoadInertiaLinear are set to zero. This always starts optimization with a robust controller setting. |
|
Button Fixed Load Inertia |
This button only appears if the optimization mode "Mechanical Parameters" is not activated. If the optimization mode "Mechanical Parameter" is activated, then FixedLoadInertia always is deactivated. With the button FixedLoadInertia the values J_Load and J_Gear or LoadInertiaLinear can be "frozen". This means the values are not changed during optimization. When enabling FixedLoadInertia, the input field for the J_Load object parameter is displayed. The value entered here and the value of J_Gear are (if FixedLoadInertia active = green) not changed by the optimization. With the button FixedLoadInertia the pre-calculated values from J_Load and J_Gear or LoadInertiaLinear can be "frozen". The values will then be considered as constants during optimization and not changed. J_Load: When activating FixedLoadInertia an entry mask for J_Load appears by rotary drives. A known value must be entered here for J_Load. LoadInertiaLinear: When activating FixedLoadInertia an entry mask appears for LoadIneartiaLinear by linear drives. A known value must be entered here for LoadInertiaLinear. NOTE: The values that are entered by an activated FixedLoadIneartia for J_Load or LoadInertiaLinear are not changed during the optimization. By a wrong specification of these values the feed forward will give incorrect characteristics after the optimization. This can lead to a distinctive increase of the tracking deviation. The user is responsible that the correct values for J_Load or LoadInertiaLinear are parameterized. |
|
Button Start Load Inertia |
This button only appears if the optimization mode "Mechanical Parameters" is activated and the optimization mode "Velocity control loop" is not activated. If the optimization mode "Mechanical Parameter" is not activated or the optimization mode Velocity control loop is activated, then Start Load Inertia is always deactivated. With the button Start Load Inertia the start value J_Load or LoadInertiaLinear can be predefined. This start value has effect on the motion profile during the optimization of the mechanical parameters and therefore it should be known with a deviation of +100%/- 50%. When activating Start Load Inertia the input field for the object parameter J_Load or LoadInertiaLinear appears. J_Load: When activating StartLoadInertia an entry mask for J_Load appears by rotary drives. An estimated value must be entered here for J_Load. LoadInertiaLinear: When activating StartLoadInertia an entry mask appears for LoadIneartiaLinear by linear drives. An estimated value must be entered here for LoadInertiaLinear. NOTE: The values that are entered by an activated FixedLoadIneartia for J_Load or LoadInertiaLinear change the motion profile. Values that are too small lead to an increased acceleration and possibly a movement at the current limit. By significantly too small set values the optimization is stopped due to a too large tracking error. Values that are too large lead to a reduced acceleration. By significantly too small set values the optimization result is inaccurate and in the extreme case, it can detect completely wrong values. This is why this functionality should only be used if the value of J_Load or LoadInertiaLinear is known with an accuracy of about -50% to +100%. |
Dynamic Response of the Controller
This setting allows you to change the dynamics of the control loops. This dynamic depends on the mechanical properties of the machine. When you set a higher dynamic response, you can expect the build-up period to be shorter. However, the build-up period is not quantitatively determined by the dynamic response.
The dynamic response allow for statements on the stability and the tendency of the drive to oscillate. As the dynamic response increases, the stability (distance to the stability limit) decreases and the tendency to oscillate increases. At the same time, the increase of the controller amplification reduces the control deviation (tracking deviation). However, that only applies when the control loop is stable. On the other hand, if the stability requirements are too high (e.g. robust setting), in some no parameters may be found.
The dynamic response must not be changed during optimization.
The following settings can be selected:
|
Element |
Description |
|---|---|
|
Button Robust |
The drive generally steadies after oscillating up in the velocity. |
|
Button Medium |
The drive generally steadies after oscillating up and oscillating down in velocity. (Default setting) |
|
Button Dynamic |
In general the drive is in a steady state after about 2 to 3 oscillations. |
|
Button High dynamic |
In general the drive is in a steady state after about 3 to 5 oscillations. |
