Parker EME
Setting up Compax3
192-120101 N11 C3I11T11 November 2007
179
Controller optimization of toothed belt drive
“Controller optimization toothed belt drive”
•
Set absolute positioning in the setup window and move over
the entire positioning range at a low speed.
•
Increase stiffness up to the tendency to oscillate and adapt
control signal filter (see chapter “control signal filter/..”)
Increase D-component (Obj. 2100.7) of the speed
controller (in steps of 100%..500%) in order to
suppress the tendency to oscillate.
Smooth, stable behavior?
Increase stiffness (Obj. 2100.2)
and adapt control signal filter according to the setting
rule (see chapter “control signal filter/...”)
Smooth, stable behavior?
Increase filter 2 of actual acceleration value (Obj.
2100.11) in order to attenuate the higher-frequency
excitation of the speed controller caused by the
disturbed D component.
Please note: The filtering delays the signal and may
destabilize the control loop.
Smooth, stable behavior?
The following measures can be helpful
:
•
Further increase filter 2 of actual acceleration value
or reduce again.
•
Reduce D-component
•
Reduce stiffness
•
Reduce control signal filter (speed controller)
•
The stiffness of a drive able to oscillate can be increased by using the
D-component. If the D-component is too large, the control is
destabilized.
•
Due to the twofold position differentiation, the D-component is rather
disturbed and may excite the control loop in the higher-frequency
range. The filtering of the d-component with the aid of the “filter2 of
actual acceleration value” can activate the higher-frequency
components at the cost of the dynamics
.
•
The correct combination of the3 parameters will lead to the best
control results.
•
The D-component is set in %. The value range: 0...4000000 %.
•
Values up to 5000 are common.
Main diagram
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Store settings with WF.
