Setting
up Compax3
C3I12T11
204
192-120113 N08 C3I12T11 - December 2010
Controller coefficients
In this chapter you can read about:
Velocity Loop P Term .................................................................................................... 204
D-term of the KD velocity controller ............................................................................... 204
P-term KV position loop ................................................................................................. 204
Dependence of the controller coefficients from the optimization objects
The controller coefficients are influenced by the optimization objects such as
"stiffness" and/or "attenuation". The dependency is displayed below.
I-term KI in the velocity loop
St
K
T
St
K
I
EGD
I
~
100
[%]
⇒
⋅
=
T
EGD
:
The replacement time constant of the closed velocity loop.
St
Rigidity
Velocity Loop P Term
)
(
/
~
~
20
[%]
14
,
0
30
[%]
100
100
[%]
100
[%]
Dp
f
K
EMK
Tm
K
St
K
Dp
EMK
T
Tm
T
St
K
LIN
PV
PV
PV
N
EGD
PV
=
∧
∧
⇒
⋅
+
⋅
⋅
⋅
⋅
⋅
=
T
EGD
:
The replacement time constant of the closed velocity loop.
T
N
:
The mechanical integration time constant of the motor.
f
LIN
():
Linear function (straight) between attenuation and KPV
Tm
Moment of Inertia
St
Rigidity
Dp
Damping
D-term of the KD velocity controller
Dterm
K
K
Dterm
K
D
D
D
~
100
[%]
%
100
_
⇒
⋅
=
KD_100%
:
The defined 100% coefficient
Dterm
D term
P-term KV position loop
[%])
/
1
(
[%]
~
[%]
14
,
0
30
20
100
[%]
Dp
f
K
St
K
T
Dp
T
St
K
LIN
V
V
X
EGD
V
=
∧
⇒
⋅
⋅
+
⋅
⋅
=
T
EGD
:
The replacement time constant of the closed velocity loop.
T
X
:
The position integration time constant of the motor.
St
Rigidity
Dp
Damping
f
LIN
():
Linear function (straight) between 1/attenuation and KV
