Controllers
Parameter manual
b maXX
BM5800
Document No.: 5.16029.03
Baumüller Nürnberg GmbH
404
3.7
Physical units in the control circuit
Figure 101:
Physical units in the control circuit
3.7.1
Position / Speed Controller
3.7.1.1 The factor Ks
The factor Ks accords to the "system gain" and is determined by the total inertia 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
"Ks factor" is the value of the "system gain" at the nominal point
(magnetic flux = Flux
N
= 100% and a "warm" motor).
The Ks factor
is the base of the parameter "Ks actual value"
at which
an operation is considered that deviates from the nominal operation.
5000_0085_rev02_int.cdr
(18.27)
(18.45)
(47.1)
(47.3)
(18.11)
(18.13)
(18.23)
(18.22)
(106.38)
(18.12)
x2
[1/s]
x3
[1/s ]
2
-
-
-
Kp (18.24)
Kv (18.14)
Kp
[1/s]
S&H
Kv
[1/s]
Ks (18.40)
Tn (18.25)
[s]
[s]
[s]
1/Ks
[As /Grad]
2
Kt
[Nm/A]
1/J
[1/kg m ]
2
Ki =
Kp/Tn
[1/s ]
2
Kd =
Kp Td
[1/s]
[1/s]
Speed controller
Strom-
regler
Motor
torque
[Nm]
Position controller
Controlled system
Time constant speed actual value filter
[ms]
speed for controller
[INC/TAB]
x2 Speed
actual value
[Grad/s]
x1 Position
actual value
[Grad]
w1 Position
set value
[Grad]
e1 Position
controller error
[Grad]
e2 Speed
error
[Grad/s]
Acceleration torque
[Nm] or [m kg/s ]
2
2
Load torque
[Nm]
Isq set value
unlimited
[A]
Isq set value
[A]
Isq actual value
[A]
Ks
180
o
-----------
Flux
[%]
Kt
J
------
=
