Baumuller b maXX BM2500, Operating Manual

Page: 446 / 822

Controllers
Parameter manual b maXX BM3000
Document no.: 5.12001.07 Baumüller Nürnberg GmbH
446
of 820
4.7
Block diagram of the position / speed controller module when in synchronous operation
with a real master shaft:
Figure 146: Block diagram of the position / speed controller module when in synchronous operation with a
real master shaft
4.7.1.1 The factor Ks
The factor Ks accords to the "system gain" and is determined by the total inertia torque
of the drive J in [kg m
2
], the motor torque constant Kt in [Nm/A], and the magnetic flux in
%. The following specifications were made:
Ks is [(degree/s
2
)/A] or acceleration/A. Therefore, the parameter Ks is a measure for the
accelerating capability per ampere of the drive.
The parameter
Z
18.40
–
"Ks factor" is the value of the "system gain" at the measuring
point (magnetic flux = Flux
N
= 100% and a "warm" motor).
The Ks factor
Z
18.40
–
is the base of the parameter "Ks actual value"
Z
155.10
–
at which
an operation is considered that deviates from the operation.
In the controller the inverse value of the "Ks actual value"
Z
155.10
–
(1/Ks) serves as a
standardization constant between the acceleration value (speed controller output) and
the torque current set value (isq). The P gain factor of the speed control loop
Z
18.24
–
is
[1/s] and is independent of the controlled system.
An incorrect value in the standardization constant 1/Ks in the speed controller causes that
the conversion of the accelerating control in the torque current as well as the speed con-
troller parameterization are incorrect. Kp is not [1/s] nor is it comparable with the other
applications in the controller settings.
The evaluation of the Ks factor
Z
18.40
–
is described in the chapter
Z
Ks Determination
–
from page 207.
The Ks adaption according to conditions deviating of the measuring point (result: Ks ac-
tual value
Z
155.10
–
) is described in the chapter
Z
Ks adaption
–
from page 525.
3300_0076_rev02_int.cdr
+
+
*
+
Position set value
(18.58 and 18.59)
Electronic gearing
(145.3 and 145.4)
Position actual value of the master axis
(106.10 and 106.11 of the master encoder)
Position controller
see block diagram
at position control
Master angle offset (145.18)
Master speed set value additive 2
Master speed set value additive 1
Scaling
Ks
180
o

-----------
Flux
100
------------
Kt
J
------
 
=