Baumuller b maXX BM5800, Руководство по параметрам

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Configuration
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
200
of 814
3.4
m
With a plant having no elastic force, the torque constant Kt and the Ks factor and thus
the total torque inertia of the drive J
A
is calculated by the least squares method.
m
With a two-mass vibrational system the torque constant Kt, the Ks factor, the motor in-
ertia J
M
, the load inertia J
L
, the spring stiffness D
S
and the spring damping D
S
is cal-
culated. Hereby the wanted type parameters are determined via a genetic algorithm.
The starting values are calculated from the detected damping and resonance frequen-
cy, on the basis of which the frequency range (range round the resonance and the an-
tiresonance) for the identification is determined, as well. If the measuring and the
identified model disaccord, then the frequency range and the resonance frequencies
can be also specified manually.
Furthermore, can be manually determined if the plant must be molded like a single mass
system or like a two-mass vibrational system. In the first case select "Identify as a single
mass system" in ProDrive, in the second case select "Specify resonance frequencies" in
ProDrive.
The identified values are not saved automatically (for same values there are no controller
parameters existent).
The initial value of the torque constant accords to the Kt factor
Z
107.44
–
or in case of a
loaded frequency response the factor Kt from the stored system information.
Step 3: Evaluate optimum controller and filter settings
At a two-mass vibrational system with the polynomial filter of the torque current set value
the attempt is made to suppress the amplitude at the resonance frequency and to reduce
the amplitude for higher amplitudes so that the controller gain can be increased.
At the single mass system the polynomial filter of the torque current set value is set to "not
filter" (all of their coefficients are set to zero except the first one, which is set to one).
In order to optimize the controller and polynomial filters the sampling time (cycle of posi-
tion and speed controller) as well as the current time constant (additional time constant
of the closed control loop dependent of the PWM frequency) are required.
NOTE!
m
ProDrive allows to define or to change the torque constants for the identification
freely. If this constant is changed the identified values are calculated again. How-
ever, these deviate from the current drive (accordingly
Z
107.44
–
) or from those of
the system from which the system information originates. The identified Ks factor
at the single mass system remains. At the two-mass vibrational system a change
of the Kt factor causes a new calculation of the identified distance and therewith of
the Ks factor.
m
If the system is detected as a single mass system (or the identification is forced to
a single mass system), in spite of this the fields for the variables J
L
, C
F
, D
F
as well
as the identification range and the resonance frequencies are displayed in the
ProDrive. The variables J
L
, C
F
, D
F
and the identification range show the value 0
as identifier for the single mass system. In this case the displayed resonance fre-
quencies are not relevant.
m
If the system is detected as a two mass vibrational system in ProDrive the field for
the range of the identification and for the resonance frequency are used in order
to display the automatically evaluated values, as well as to enter the specified val-
ues.