Baumuller b maXX BM5800, Руководство по параметрам

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Controllers
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
398
of 814
3.7
3.7 Controllers
With the position controlled operating modes, the target position generated by the set val-
ue manager and the actual position measured by the encoder system are compared and
evaluated in the P-controller ((
Z
18.14
–
) Kv). In conjunction with the secondary speed
controller, a requirement for torque current is generated and then passed to the motor
manager. The position controller contains a speed feedforward adjustable via factor
Z
18.15
–
.
With the speed controlled operating modes with speed set value specification, the target
speed generated by the set value manager and the actual speed measured by the encod-
er system are compared and evaluated in the PI controller ((
Z
18.24
–
) Kp, (
Z
18.25
–
) Tn).
A requirement for torque current is calculated and then passed to the motor manager. The
speed controller contains a further PT
1
element for smoothing the actual speed, a notch
filter for speed actual value and a acceleration feedforward adjustable via the factors
Z
18.36
–
and
Z
18.37
–
.
At the current control operating mode either a torque current set value or a torque set val-
ue (from FW version 1.14 onward if
Z
18.9
–
bit 10 = 1) can be directly defined. The torque
current set value can be written in the writable parameter lsq set value for OM current con-
trol (
Z
18.50
–
) in % (standardization: 100% accord to l
sq max
Z
19.8
–
). The torque set val-
ue can be entered in the writable parameter "Torque set value for OM current control
(
Z
18.78
–
) in % (standardization: 100% = M
base
Z
138.34
–
). Accordantly the torque cur-
rent set value is converted in A or the torque set value is at first re-scaled in Nm and is
converted by Kt current (
Z
155.24
–
) and the flux set value (
Z
146.13
–
) in a torque current
in A. Then the result is passed on to the motor manager in the RT0 cycle (lsq set value
unlimited
Z
18.45
–
).
If the synchronized drive operating mode (
Z
109.1
–
= -5) is activated and at the same time
the synchronized operating mode (
Z
145.2
–
) "Synchronized operation on a real master
axis“ is set, the set values from the set value manager are overwritten. Instead, the set
value is calculated from the position actual value of the master encoder or from the set
value of the master axis (only possible at double axis units). The electronic gearbox
(
Z
145.3
–
and
Z
145.4
–
) is then computed. The set values for the controller are then cal-
culated from the set value at the gearbox output.
In the "Synchronized operation on a virtual master axis" mode the set values, including
the electronic gearbox, are calculated in the Synchronized Operation module and for-
warded to the position and speed controllers via the set value manager.