111
NTT 240/460
Operation mode
Installation and user guide
Rev: 4.0
6.17 Sensorless loop tuning
The tuning procedure is necessary in order to obtain entire system
stability
; drive uses the internal current and speed
loop regulator and the sensorless loop regulator together.
To perform the procedure, Caliper software is necessary to observe some variables in Scope function during the drive
operation (please see
The following tuning procedure provides good results in most types of controlled systems, if following conditions
are met:
•
drive must be able to provide motor rated current.
•
load inertia is 6 times grater than motor, maximum.
•
speed ramps must be enabled and lower than 5000RPM/s.
6.17.1 Setting speed/current loop and motor parameters
» Regarding motor data, it’s necessary to enter these parameters into
Motor Data
menu:
•
Motor PHASE resistor value
in Ω. ATTENTION: If motor datasheet provides PHASE to PHASE resistor,
please enter that halved parameter.
•
Motor PHASE Inductance
(
Synchrony
) in mH. ATTENTION: If motor datasheet provides PHASE to PHASE
inductance, please enter that halved parameter.
•
Magnetic flux
(
Magnet Flow
) in Wb using the following formula:
In the previous formula, ‘Ke’ is motor e.m.f. parameter in Vs (Volt x second), ‘P’ is motor poles number.
Just in case ‘Ke’ would not be directly provided into datasheet, please use formula below to get the correct
parameter by motor e.m.f. (FEM
RPM
) given at a specified speed (RPM):
Motor data must be set as shown in the picture below:
» Regarding speed and current loop regulators, as main parameters are related to sensorless predictive control,
speed and current PID must be set as low as possible in order to avoid to let the system to instability conditions;
it’s recommended to set PID parameters (nel sottomenu
Advanced Setup
) as shown in the table below:
PID
Speed
Current
Kp
50
120
Ki
10
70
Kd
1
1
Содержание NTT 240
Страница 129: ......
