9.5.10
Parameterization of observer
Proceed as follows:
● Excite skew oscillation and use a trace to verify that camera angle psi_cam and model angle
psi_model match each other. If an offset is present, this can be ignored. Only phase and
amplitude are significant for the function.
To do this, set parameter P303 in such a way that the waveform of psi_model represents a
satisfactory compromise between close similarity with psi_cam (P303 increased) and slight
measurement noise (P303 reduced).
9.5.11
Activates the "skew damping" function
The aim of this chapter is to check the skew damping function. For this purpose, the
corresponding control bits must be set (see Chapter Control of a cylinder movement
(Page 259) or Chapter Controlling movement of the electric drive (Page 259)), and control bit
"AS_ON" (see Chapter TLS (Page 90)). After skew oscillation has been excited, it should be
actively damped by the skew drive or the cylinders.
9.5.12
Optional adaptations
Adapting skew damping
With parameter P300 (damping factor skew damping), the level of skew damping can be set.
Larger values mean faster elimination of the skew oscillation but also require larger maximum
output variables (cylinder P261, electric drive P325, P326) to keep the control loop stable.
Via P333, an additional function for skew damping can be activated. With this additional
function, the parameter P300 can be set larger without destabilizing the skew damping control
loop.
Note
Parameters P334 and P335 of the additional function must be left at the default values.
Changes can result in unstable closed-loop control behavior.
With parameter P302, the period is specified in which the internal parameter is built up to value
P300 for skew damping (see the following figure).
Commissioning AddOn Software
9.5 Commissioning TLS (hydraulic system)
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA
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