Drive Configuration
Controller Tuning
With
Position 1
latched, the signal from Encoder[1] is used.
This section considers only the first case, as this is the default case for single-loop position controllers.
Important
Important
For synchronous AC motors the measurement of the transfer function between current
and position requires a valid commutation. In this case the initial (first time) commis-
sioning of the position controller requires to set
Parameters.Commutation.PhasingMethod
to
RotorAlignment
and
Parameters.Commutation.EnablingMethod
must
not
be
Automatic
!
Additionally the
Bode
measurement has to be executed again after the first commis-
sioning of the current controller!
To setup the position controller,
Position 0
has to be selected in the
Select Controller
panel. The
Con-
troller Parameter
panel shows the parameters used to configure the
PIDT1
controller.
Two equivalent controller structures can be selected in the
Select Controller Structure
panel. This se-
lection has no effect on the behavior of the controller as all structures are internally transformed to the
Additive, Gain
structure, but it allows to select the structure which is most suitable for the tuning.
Additive, Gain
:
Figure 51 shows the parameters used to configure the
PIDT1
controller if
Additive, Gain
is selected.
With this structure, the parameters are identical with the controller registers in the Topology Tree.
The controller output is the sum of the integral path weighted with
Ki
, the proportional path
weighted with
Kp
, and differential path weighted with
Kd
and filtered with a low pass filter with
time constant
T1
(see also Figure 52).
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Figure 51: Controller Parameter with Additive, Gain
selected.
