Equation for calculating the reset time
(
)
= ×
+
2
n
Filter
Stromregler
T
a
T
T
Parameter
Symbol
Description
Dimension unit
V
p
Speed controller gain
Nm / rpm
-
J
Moment of inertia = J
motor
+
sum (J
load
)
kgm
2
-
a
Measure for the phase reserve
(recommendation: a = 4≡ 60° phase
reserve)
T
Filter
Filter time constant - actual speed
value
s
-
T
current controller
Equivalent time constant of the cur-
rent control loop = 0.0005 s
s
T
n
Reset time - speed controller
s
Special case of the linear motor
In this case, a re-calculation from a linear system to a rotary system must be made. Therefore,
via the feedback system a degree of freedom results for the determination of the number of
pole pairs. For a rotary system, the number of pole pairs specifies the ratio of electrical and
mechanical revolution, the number of encoder increments being defined via one mechanical
revolution. In the case of a linear system, the user is free to decide for which length he or she
wants to specify the number of encoder increments. Usually, the number of increments is
given for a pole distance or for the total length of the linear scale. If the number of increments
= "number of increments for one pole distance" is selected, a motor with the number of pole
pairs zp = 1 is created. The effective moment of inertia for a linear motor can be calculated
according to the following equations. With this J value, the equations shown above can be
used to calculate the speed controller gain and reset time.
Equation for calculating the effective moment of inertia
× × t
æ
ö
= ×ç
÷
ç
÷
p
è
ø
2
Polpaar
zp 2
J m
2
=
×
× t
Polpaar
s
zp Ganzzahl
2
Parameter
Symbol
Description
Dimension unit
-
s
Length on which the specification
for the number of encoder incre-
ments is based (e.g. per pole dis-
tance or total length).
m
-
2 τ
Pole pair
Pole distance of the permanent
magnets, pole pair width
m
-
J
Moment of inertia = J
Forcer
+ J
Slide
+
J
Load
kgm
2
-
m
Moving mass = m
Forcer
+ m
Slide
+
m
Load
kg
Parameter
Address
Name / setting range / [default setting]
Info
0x2900:001
Speed controller settings: Gain
0.00000 ... [0.00033] ... 20000.00000 Nm/rpm
Gain factor Vp of the speed controller.
0x2900:002
Speed controller settings: Reset time
1.0 ... [17.6] ... 6000.0 ms
Reset time Ti of the speed controller.
0x2900:003
Speed controller settings: Rate time
0.00 ... [0.00] ... 3.00 ms
Setting of the rate time for the speed controller.
0x2901
Speed controller gain adaption
0.00 ... [100.00] ... 200.00 %
Mappable parameter for adaptive adjustment of the speed controller
gain.
Configuring the motor control
Options for optimising the control loops
Motor control settings
265
Содержание i950 Series
Страница 1: ...Inverters i950 servo inverters Commissioning EN ...
Страница 2: ......
Страница 312: ...15 Configure engineering port The given path leads you to the engineering port Configure engineering port 312 ...
Страница 397: ...19 Safety functions Supported safety functions for Basic Safety STO 4Safe Torque Off STO 398 Safety functions 397 ...
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