Danaher Motion SuperDrive ACS24 Series, User Manual

Page: 55 / 99

26.04.2005
Configuration & control of the AC SuperDrive
alternately adjusting a parameter and operating the vehicle until the desired “feel” or response is
achieved. Some general tuning guidelines follow.
•
Speed PI Controller P-gain Set 0-3
(2090h:1-4)
: Should be increased gradually from the
default value until the vehicle's response to operator controls is acceptable. Excessively high
Pgain
can cause instability and excessive power consumption.
•
Speed PI Controller I-gain (Small, Medium and Large) Set 0-3
(2092h-2093h:1-4): The
I-gain
is typically used to increase sensitivity to small changes in operator controls when at
or near zero speed.
Igain
, in combination with
P-gain
,
is beneficial for holding zero speed
or to overcome friction when starting. Excessive
I-gain
can cause the motor/load to break
into oscillation.
I-gain
should not be introduced until
P-gain
has been adjusted and the
motor/load exhibits stable operation. It should be observed that there are three I-gains
(Small, Medium and Large) that are used in PDO and Parameter Controlled Ramp modes.
Table 9 explains during which operation conditions the Small, Medium and Large I-gain,
respectively, are used.
The Torque Current Limitation parameters ( Table 17 ) also have to be set to appropriate values
so that optimum response for various operating conditions is achieved. It is also possible to get
dynamic torque limit adjustability during operation by including the parameter Max Acceleration
Torque Current in the PDO.
6.6.1.2 T
UNING IN NO RAMP MODE
In No Ramp mode the four sets of Speed PI Controller parameters that are provided can be
utilized. The truck controller can dynamically select the optimum response for various operating
conditions (i.e. slow speed, high speed, braking, holding). The bit 4 and 5 in the Command Word
are used to choose 1 out of the 4 possible parameter sets that is to be used in the speed PI
control. Optimum values for the Speed PI Controller parameters are usually established
empirically by alternately adjusting a parameter and operating the vehicle until the desired “feel”
or response is achieved (see tuning guidelines in Tuning in parameter or PDO controlled ramp
mode). It should be observed that in the No Ramp mode only the small I-gain is utilized (see
Table 9 ).
User's Guide 1.0 Item No.
89Y05120A
55