B&R 8I84T200037.01P-1, Руководство пользователя

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Programming guidelines
ACOPOSinverter P84 User's Manual 2.10 245
Test case 2: The PID response is faster than the response time of the PID feedback.
ACOPOSinverter PID configuration:
ACC:
DEC:
HSP:
LSP:
1
1
50.0 Hz
0.0 Hz
PIF:
AIC1:
AIV1:
AIV1
CAN
0
PIF1:
PIF2:
PIP1:
PIP2:
0
8192
0
8192
RPG:
RIG:
RDG:
PRP:
7.00
0.01
0.00
0.0 s
POL:
POH:
AC2:
DE2:
-500
500
30
30
Test results:
siRPEInternal
Signed
Scaling Zero
Dec
siSpdEstEnt
Signed
Scaling Zero
Dec
siPIDQ13_ref
Signed
Scaling Zero
Dec
siRPEInternal = PID fault
siSpdEstEnt = Motor speed
siPIDQ13_ref = PID output
CMD bit 8 = 0
Drive starts
CMD bit 8 = 1
Drive stops
Position reference moves
CMD bit 8 = 0
PID output is reduced faster
because here the PID gain (RPG)
is increased
Motor speed begins to increase but then
reaches the PID output. The consequence is
that the motor speed now follows the PID
output. The result is that the motor will be
stopped (or in reverse) before
reaching the position.
PID error slowly decreases
In this case the PID gain (RPG) is set to a higher value to obtain a higher PID responsiveness. With this setting
the PID output reacts faster in comparison to the motor speed and the PID feedback. The motor speed is therefore
reaches the PID output, which has already reduced before reaching the position. This leads to a positioning fault.