Engel HBI22 Series, Руководство по эксплуатации

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Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 41
9.3 Speed controller adjustment

Note:
Correctly adjusted control parameters for the current controller are required for the speed
controller adjustment.
Step 1:
Installed drive ready for operation in accordance with Step 5 of the commissioning instructions
in chapter 7 Commissioning of the integrated HBI drives
.
Step 2:
Make sure that current limits and control parameters of the current controller are correctly adjusted.
If necessary, make settings according to chapter
9.1 Current controller
.
Step 3:
For the optimisation of the speed controller, the speed progression of the drive must be determined.
Step 4:
The parameters of the speed controller are accessible through the menu
OPTIMISATION / SPEED
CONTROLLER
.
For the optimisation of the speed controller the setpoint ramp is to be switched off or the maximum
incline is to be set and the setpoint scaling value is to be adjusted in accordance with the speed required
in the application.
The control parameters of the speed controller are to be initially set to non-critical values,
which means low proportional gain (approx. 0.05 ... 0.1) and a large time constant.
Step 5:
The drive is now enabled with a speed setpoint of approx. 75%.
. The progression of the speed is determined. Withdraw controller enable.
Step 6:
Increase the speed controller’s proportional gain by a few hundredths and enable the drive again and
determine the speed progression.
Adjust the proportional gain so that an oscillation of the speed is clearly recognisable. Then reduce the
proportional gain to the point where oscillation no longer occurs.
For the optimisation, reduce the speed controller time constant until the setpoint speed is reached with
a single overshoot (approx. 4-10% of the setpoint).
a) proportional gain too low b) optimal proportional gain / time constant c) proportional gain too high
time constant too large time constant too small
Fig.: Speed step responses with variation of the speed controller settings