MOOG
ID
No.:
CB40859-001
Date:
02/2018
MSD Servo Drive - Device Help
125
7 Control
Fig. 7.18: “Circle and hexagon voltages” diagram
U
N
Mains voltage
U
l
Voltage at inductor
U
u
Inverter voltage
U
zk
DC link voltage
α Phase angle
Legend for “Circle and hexagon voltages” diagram
ID
Index Name
Unit Description
431
0
CON_CCON_VLimit
%
432
0
CON_CCON_Mode
Voltage limit for first current controller
Select current control / limitation mode
Table 7.8: “Advanced torque control - Overmodulation” parameters
7.3.6 Torque control with defined bandwidth
The controller gain is determined by activating test signals (Autotuning). The
calculations and the relevant autotuning are carried out in the drive controller. The
advanced settings are made in P 1530[0] - SCD_SetMotorControl, P 1531[0] -
SCD_Action_Sel and P 1533[0] - SCD_AT_Bandwidth.
The 3dB bandwidth of the closed loop is specified as the bandwidth.
Advisable bandwidth settings at 8 kHz switching frequency are up to
approximately 2000 Hz; at 16 kHz switching frequency up to approximately
3000 Hz.
The P-gain CCON_Kp is calculated according to the amount optimum.
The integral-action time CCON_Tn is interpolated between the amount
optimum and the symmetrical optimum, so that the I-content is sufficient,
resulting in reduced interference response.
P no.
Index Name / Setting
Unit Function
1530
0
SCD_SetMotorControl
Fault(-1)
Ready(0)
CALC_CON(1)
CALC_ASM(2)
BANDWIDTH(3)
DEADBEAT(4)
Torque controller setting with defined bandwidth
Error during calculation
Calculation ready
Control with motor data calculation
Calculate asm motor from rated data
Calculate current controller by bandwidth
This setting parameterizes a dead-beat
controller. The structure is switched to
feedback with observer, the observer is
designed (to a specific equivalent time constant
– for setting see
P 434[0] - CON_CCON_
ObsPara
– and the speed controller gains are
calculated accordingly.
1531
0
SCD_Action_Sel
Start conditions to determine the torque
controller settings
FAULT (-1)
Selected function stopped with fault
READY (0)
Ready to start function / last call successfully
ended
Table 7.9: “Torque control with defined bandwidth” parameters