LSIS XDL-L7NH Series, Руководство пользователя, Страница: 157 / 348

7. Tuning
7-3
In the following cases, it may be inaccurate to estimate the inertia when online auto tuning.
 When a change of the load is too heavy

When rigidity of load is too weak or too heavy backlash system.
 When the load is too small(less than 3 times) or too heavy (more than 20 times)

When acceleration and deceleration is too small for sufficient acceleration and deceleration
torque (less than 10% of the rated).
 When the speed of revolution is too slow (less than 10% of the rated).
 When friction torque is too large.
If the above conditions or on-line auto tuning system doesn’t operate well, please run an off-line gain
tuning.
7.3
Manual Gain Tuning
7.3.1
Gain Tuning Sequence
For a cascade-type controller, tune the gain of the speed controller located at an inner position first,
and then tune the gain of the position controller located at an outer position.
In other words, tune the gains in the order of proportional gain  integral gain  feedforward gain.
The role of each individual gain is as follows:
-
Proportional gain: Determines the controller BW.
- Integral gain: Determines error of steady-state, and generates an overshoot.
-
Feedforward gain: Enhances the system lag characteristic.
- Differential gain: Plays a role of damper for the system (not provided)
 Speed Controller Tuning
(1) Inertia ratio setting
-
Use automatic inertia estimation function or carry out manual setting.
(2) Proportional gain setting
-
Monitor torque and noise before any vibration occurs.
(3) Integral gain setting
-
Monitor the speed overshoot and the steady-state error.
- You can use the P/PI switching mode if you want to increase the integral gain but overshoot occurs.
-
For this drive, the integral gain is set to the integral time constant.
(4) Speed command filter and speed feedback filter setting