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64

Settling of a control loop on a step change in input:

t

rise

: The rise time characterized by the first moment the reference input reaches the set

value.
t

settle

: Settling time, time that elapses before the new settled final state is reached. This is

deem reached when the controlled variable disappears within the tolerance band x.

x: e.g. 2% of the step change in the reference variable.

The overshoot o is stated as a percentage of the total step change in the reference variable.

Optimization of the PI controller according to the absolute value optimum

The absolute value optimum is used if there is no integral-action element in the controlled
system. Approximation of the absolute value of the frequency response to the optimum value
1 is performed for the largest possible frequency range.
If, among multiple small lag elements in the controlled system, there is one that has a greater
time constant (e.g. the armature time constant of the motor in relation to the current
controller) than the sum of all the other lag elements, this time large time constant must be
compensated for to speed up the control process. To avoid a static control error, the
controller must have an integral character. To achieve compensation of the large lag using
the integral-action controller, a proportional action is required in addition.
To compensate for the large time constant T1 it is necessary for the reset time Tn of the
controller to correspond to this T1. Reset time Tn = T1
The Kp of the control is calculated from Kp = T1 / (2 * Vs * ).
Vs is the controlled-system gain and is the sum of the small time constants of the lag
elements.
The rise time is t

rise

= 4.7 * ; the settling time is t

settle

= 8.4 * for a x of 2%.

The overshoot is 4.3%.
If, not one but two especially large lag elements are in a series of the first-order lag, a
proportional-plus-integral-plus-derivative-action controller, i.e. a PID controller, is more
suitable. The reset time Tn must always be set to the the larger time T1 of the two; Tv, to the
smaller time constant T2 in the control loop.
Tn = T1, Tv = T2, Kp = T1 / (2 * Vs * ).
The frequency response of the PID controller is: F(p) = Kp * (1+p*Tn) * (1+p*Tv) / (p*Tn)
Because 2 larger time constants are compensated for, the remaining is smaller, meaning
that faster rise times can be achieved.

t

ris

t

ris

t

settl

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Содержание SINAMICS DCM 6RA80

Страница 1: ...ctions as well as the assembly operating and maintenance instructions should carry out work on these units Perfect safe and reliable operation of the units is conditional upon them having been professionally transported stored mounted and installed and having been carefully operated and maintained The output of the power section for the armature and field is not electrically isolated from the inpu...

Страница 2: ...ce See Section 9 2 of the Operating Instructions For control switch on via the BOP20 see Section 9 2 4 of the Operating Instructions Advanced Operating Panel AOP30 accessories See Section 9 3 of the Operating Instructions The new AOP30 with order number 6SL3055 0AA00 4CA4 or 4CA5 must be used For each device with up to 2 CUD a own AOP30 necessary Software update See Section 11 1 of the Operating I...

Страница 3: ... seconds On the AOP30 When confirming the parameter transfer press the OK key for longer than 1 sec and then answer the prompt by selecting Yes If a memory card is inserted in the CUD the parameters will also be saved on the memory card For the CUD on the left or right hand side the parameters in the ROM are saved on the CUD If the CUD is replaced a parameter download is required after the CUD rep...

Страница 4: ...o rating plate r50072 0 possible p50076 0 Adjustment of rated DC device current for armature to 1 to 100 rated current p50076 1 Adjustment of rated DC device current for field to 1 to 100 of rated current p50077 Total thermal derating factor as a function of the ambient temperature and installation altitude of the device p50078 0 Rated line voltage for converter armature p50078 1 Rated line voltag...

Страница 5: ...analog variables such as actual current value or speed controller output and the binectors BO binector output for indicating digital control signals conditions with the value 0 or 1 for each bit of the BICO parameters binector connector parameter The selection parameters CI connector input and BI binector input are used to select at which intervention point the connector or binector in question wi...

Страница 6: ...01 r52100 Sheet 6860 100 corresponds to 0 degrees 0 corresponds to 90 degrees 100 corresponds to 180 degrees Field circuit Actual EMF value r52286 r52285 Sheet 6900 100 corresponds to r50078 0 1 35 Output EMF control loop r52280 r52293 field current setpoint r52277 to r52268 100 corresponds to the actual rated DC device current field r50073 1 Output field current control loop firing angle field Sh...

Страница 7: ...on for r50000 The operating state is also available in connector CO r52800 for example for transmission as PCD process data via a serial interface If the device does respond as required always check the operating state A relevant control signal might be missing Display of the signal states of the binary inputs and outputs See BO rxxxxx in Section 2 of the List Manual Note The function descriptions...

Страница 8: ...ive coasts down the main contactor is not switched off When controlling via bus ensure that bit 0 ON OFF1 and bit 3 operating enable of the control word from the bus are each ANDed with terminal X177 12 and X177 13 i e a high signal must exist at both sources for executing the control command This AND logic operation not applies for controlling via the AOP30 and the STARTER If controlling is only ...

Страница 9: ...ation or in a 12 pulse parallel connection of devices it is therefore important to ensure that signal OFF1 or OFF3 is not passed on to the slave devices until the master has completed the shutdown and is no longer in the Run state Setpoint value specification p50433 C For selecting the connector for the setpoint prior to the ramp function generator see Sheet 3113 in Section 2 of the List Manual Se...

Страница 10: ...s the main contactor relay in SINAMICS DCM has no forcibly guided contacts in the worst case this means that the relay contact may be welded and therefore does not open the failsafe contactor combination 3TK28 must be used if emergency switching off is implemented according to EN60204 1 3TK2825 for immediate switch off STO Safe Torque Off and 3TK2827 with delay via the integrated safe time element...

Страница 11: ...ation on whether the thyristor cannot be fired for all load states particularly in the case of an inductive load The thyristor test cannot be applied in the event of series or parallel connection of SINAMICS DCM Faults See Sheet 8060 8075 in Section 2 and Section 3 of the List Manual Should a fault occur Fxxxxx xxxxx is the fault number is displayed on the BOP20 To change the fault reaction see pa...

Страница 12: ...ge If measured voltages are not OK Check line fuses Measure voltage in front of and behind the main contactor Measure voltage at the contactor coil Check output for the main contactor relay terminal 109 110 If measured voltage is OK but operating state o4 and r50015 still not OK The line voltage is recorded via the ignition cables for thyristors check whether all are correctly plugged in On device...

Страница 13: ...ace the field module r50036 and r50035 deviate from one another but field current is flowing Check field coil The field resistance must have the approximate nominal voltage divided by nominal field current as the ohmic value Calculate output voltage from firing angle r50034 and input voltage r50016 for calculation see below and verify voltage at 3C 3D with voltmeter if measured output voltage show...

Страница 14: ...ing angle Alpha G to smaller values than 30 degrees e g 15 degrees If the SINAMICS DCM is not used for the armature supply of a DC motor but for example to feed a motor field or a solenoid suppress F60043 Settings p50051 27 tuning field characteristics p50081 1 enable field weakening p50272 1 F60167 or A60166 occurs Check the fan s direction of rotation The fan must rotate in the counter clockwise...

Страница 15: ...ross cutter good mechanical system is a requirement p50225 25 30 p50226 0 1 0 2 s Extruder rolling mills p50225 5 10 p50226 0 4 0 6 s Positioning tasks e g synchronized crane traveling gear p50225 5 10 p50226 0 2 s Constraint Rated converter current 1 5 rated motor current If the converter motor ratio is larger Kp must be reduced proportionally On no account may the speed controller output exhibit...

Страница 16: ...K an interturn fault in the field winding which means that the motor flux is too small could be the cause Approx 25 deviation from the rating plate data for the motor field as a function of the winding temperature is normal Any ground fault of the field winding can have a similiar effect Check armature circuit of motor Measure insulation resistance field circuit and armature circuit Motor does not...

Страница 17: ...is case the device remains in power up with 33 displayed at the BOP20 as the device and motor related parameters are no longer applicable The user must confirm that this data should be accepted Set p9905 2 to continue powering up Note Before replacing the modules all the inputs and outputs of the SINAMICS DCM including those of the electronics voltage supply must be de energized Replacing a device...

Страница 18: ... on the power unit does not result in dependency of the assignment of the phase angle for the power unit with respect to the electronics current supply The electronics infeed can therefore be provided by a UPS without reservation The power infeed can have a clockwise and counter clockwise rotating field rotating field independent synchronization is provided End of note Isolation of the firing puls...

Страница 19: ...ual and Section 10 11 1 of the Operating Instructions The ramp function generator changes speed setpoint that suddenly changes by means of an ascending ramp ramp up time p50303 and a descending ramp ramp down time p50304 In addition a lower transition rounding p50305 at the beginning and an upper transition rounding p50306 at the end of the ramp up function can be set See also p50611 to p50614 The...

Страница 20: ...for speed to zero if the setpoint is constant The characteristic quantities of the controller the gain Kp p50225 and the reset time Tn p50226 can be adjusted based on an additional variable such as an actual speed value Sheet 6805 This permits stable operation within a broad control range even with special applications Used for example with low speeds on feed drives A droop function Sheet 6805 is ...

Страница 21: ...ction generator time is only effective for a change of torque direction p50158 Ramp up time in seconds On old motors set p50157 1 and p50158 approx 0 04 s required for good commutation of the current in the old motor Actual value of current The armature current is sensed on the AC input side by one current transformer in each of the U and W phases The current transformer load for each current tran...

Страница 22: ...nge The point of transition from discontinuous to continuous current see below is determined by the inductance in the load circuit and the current motor EMF The control characteristic above applies to a particular motor EMF the curve moves up or down depending on the current EMF The precontrol calculates the firing angle depending on the current setpoint and the EMF of the motor uses it to compens...

Страница 23: ...nce in ohms In the above example a 400 V line voltage and 680 ohms results in approx 450 watts load capability for the resistance End of note Operation on weak networks generator with diesel drive On weak frequency networks frequency changes of up to 10 Hz per second are permissible For this parameter p50152 Line frequency correction armature factory setting 20 must be set to lower values The corr...

Страница 24: ...umber is set at p50642 x which acts as a positive limitation Four values can be set via the four indices of which the lowest value of the connector contents acts as the limitation Negative limitation The connector is set at p50643 x which acts as a negative limitation Four values can be set via the four indices of which the highest value of the connector contents acts as the limitation Here mathem...

Страница 25: ...acts as the P controller P50254 1 p50264 0 The controller acts as the I controller Optimization variables for the controller Gain Kp p50255 and reset time Tn p50256 the PI field current controller adjusts the field current to a setpoint actual value difference of zero and provides the firing angle for the field current gating unit as the output A precontrol is active at the same time and has a dif...

Страница 26: ...tion run need not be performed After the optimization run activate field weakening with p50081 1 Do field characteristics manually http support automation siemens com WW view en 41165031 p50051 29 Optimization run on an mechanically oscillating system long shaft or belt drive Manual controller optimization using the square wave generator Step changes in the setpoint can be defined for the controll...

Страница 27: ...N command and operating enable via terminal X177 12 and 13 Record step response E g step response from 15 to 18 speed setpoint Perform controller optimization with Kp p50225 and Tn p50226 Optimization is performed based on symmetrical optimum see below Test affect of filtering on p50228 optimum conditions only slight overshooting occur when the filter time p50228 is equal to the reset time Tn p502...

Страница 28: ... 0 55 100 P50236 30 P50226 p50228 ms Setpoint step change from 15 to 18 n set n act i act Automatic speed controller optimization where p50236 75 and p50236 30 n set filtering p50228 equal to reset time p50226 reduces overshooting of n act 12 Setpoint change from 15 to 18 PI controller p50228 0 Without reference model Speed controller overshoots ...

Страница 29: ... angle limits for Alpha G and Alpha W have an effect End of Note The firing angle offset can be changed in fine increments from 100 to positive values the resulting current r50019 for the armature actual value 100 actual current from p50100 or r50035 for the field current actual value 100 actual current from p50102 must be checked 100 corresponds to 180 degrees 0 corresponds to 90 degrees and 100 ...

Страница 30: ...ation with p50150 and p50151 A current flow will build up as of 120 degrees approx 32 The device output voltage Ud at 1C1 1D1 is on 3 phase supply of armature supply Unetwork 1 35 cos firing angle in degrees r50015 1 35 cos r50018 Open Loop Controlled operation for the field circuit Sheet G166 Set p50610 r52403 for CO r52403 the value for r52403 is set as a percentage in p50403 Set p50403 100 for ...

Страница 31: ...se voltage e g UU The voltage of an individual phase is the line to neutral voltage single voltage measured against the neutral point of the transformer Phase to phase voltage e g UUV This is the voltage measured between two phases The phase to phase voltage is the phase voltage times the root 3 e g UU 230 V UUV UU root 3 230 1 732 400 V The phase to phase voltage is always specified on the techni...

Страница 32: ... 4Q device for transition to braking operation in dynamic operations However field reversal can be used to permit braking of large masses in one direction of rotation or if operation in the opposite direction of rotation is required Note For field reversal an overvoltage protective circuit must be configured at the output of the field converter This protective circuit must be able to absorb the en...

Страница 33: ...lve i e the first thyristor to be fired remains conducting for continued current flow now via the next thyristor For this the firing pulse duration of the thyristor must be greater than 60 degrees because when stationary the next thyristor is fired every 60 degrees Because the firing pulse duration on the 6RA80 is however only 0 89 ms 60 degrees correspond to 3 3 ms at 50 Hz line frequency to keep...

Страница 34: ...for 2Q devices with braking by means of field reversal the firing angle must be symmetrically to W That is for W 150 degrees to 30 degrees factory setting for 4Q This is caused by the fact that G defines the maximum possible motor voltage during operation if this is too high the required back EMF is not reached on transition to braking mode with W resulting in conduction through This is monitored ...

Страница 35: ...eed cos Ud Udi cos is zero on motor speed zero at rated motor speed and rated motor voltage adjusted to the line voltage it has the following values 2Q 0 9 4Q 0 75 Maximum output voltage for SINAMICS DCM at 5 undervoltage of the nominal line voltage 2Q device Udmax Uvw 1 2 4Q device Udmax Uvw 1 05 Set p50101 as maximum to Udmax Note The output voltage of the SINAMICS DCM depends on the voltage of ...

Страница 36: ... reactor IN 65 degrees When motor speed is zero IN 88 degrees the resulting current ripple is 19 rms U Last Motor 0 100 200 300 400 500 600 0 2 4 6 8 10 Zeit in ms U in V Laststrom 0 100 200 300 400 500 600 0 2 4 6 8 10 Zeit in ms Idc in A U Last Motor 0 50 100 150 200 250 300 350 400 450 500 0 2 4 6 8 10 Zeit in ms U in V Laststrom 440 450 460 470 480 490 500 510 0 2 4 6 8 10 Zeit in ms Idc in A ...

Страница 37: ...200 100 0 100 200 300 400 0 2 4 6 8 10 Zeit in ms U in V Laststrom 0 100 200 300 400 500 600 0 2 4 6 8 10 Zeit in ms Idc in A U Last Motor 200 100 0 100 200 300 400 500 0 2 4 6 8 10 Zeit in ms U in V Laststrom 50 0 50 100 150 200 250 0 2 4 6 8 10 Zeit in ms Idc in A U Last Motor 50 0 50 100 150 200 250 300 350 400 0 2 4 6 8 10 Zeit in ms U in V Laststrom 10 0 10 20 30 40 50 60 70 80 90 0 2 4 6 8 1...

Страница 38: ...e advantage of current measurement on the infeed side is that an AC probe can be used for current measurement with the oscilloscope or recorder which is more readily available than a DC probe for measurement in the DC circuit The measurement can also be performed on the R805 load resistors for current converters in line phase U and R806 for current converters in line phase W of the current convert...

Страница 39: ...ent Id output DC current Valve current Iv A 0 707 Id Output DC voltage B2C Ud Udi cos fully controlled circuit line power rating transformer design power P W 1 11 Udi Id Relationships for some operating points of the motor Example for single phase operation Line voltage 400 V 50 Hz Commutation inductor voltage drop 4 voltage at the SINAMICS DCM input 384 V Motor 1GG5114 0GL40 3GU7 3380 UPM 10 5 kW...

Страница 40: ...oltage for the field infeed 2Q field infeed option L11 As an option for devices with an armature current from 60 A a 2Q field feeding bridge is possible in the B2C circuit In this case the power unit for the B2C circuit consists of 4 thyristors in place of 2 thyristors and 2 diodes for the B2Hz circuit Negative output voltages are possible through the 2Q circuit Alpha W operation This negative out...

Страница 41: ...s 400 V 50 Hz Id 0 21 A LF 10 H RF 1475 Udc 310 V at 45 degrees Steuerkennlinie halbgesteuerte 2 pulsige Brückenschaltung B2HZ 0 0 2 0 4 0 6 0 8 1 0 30 60 90 120 150 180 Steuerwinkel Alpha in Grad 1 cos Alpha 2 Udc SIMOREG 0 00 100 00 200 00 300 00 400 00 500 00 600 00 0 5 10 15 20 25 30 Zeit in ms Udc in V Laststrom Idc 0 0 05 0 1 0 15 0 2 0 25 0 5 10 15 20 25 30 Zeit in ms Idc in A Neutral line ...

Страница 42: ...ce of particular danger are the dangerous voltages on the devices the loads and their power supply cables as well as the rotating and moving parts such as the web Measurement of electrical variables Electrical variables that can be measured with a multimeter Alternating and direct voltage voltage U in volts V Alternating voltage Preset measuring device to V AC or V Direct voltage Preset measuring ...

Страница 43: ...ircuit For this first charge or reverse charge if reversing the poles of the ohmmeter capacitor C of the circuit via the voltage source of the ohmmeter this means that for a certain initial time a low resistance display will result before the display shows the actual high resistance value This resulting charging process is also an indication that the snubber circuit is OK so the manifestation of t...

Страница 44: ...ue that can be displayed by the ohmmeter in question Measurement of the firing pulses Pulse during operation Short pulses at p50079 0 pulse duration 0 89 ms with pulse chopping Long pulses at pü50079 1 pulse duration up to 0 1 ms before the next pulse with pulse chopping Pulse chopping First pulse 50 µs and 55 µs pause following pulse 35 µs and 70 µs pause Measurement at output of pulse transforme...

Страница 45: ...the infeed Measurements with the Trace function of STARTER Time slice 2 0 125ms 0 25 ms for the trace Line to Line voltage armature circuit 1U1 1V1 1W1 Line voltage UV r52950 0 Blue Line voltage VW r52950 1 Green Line voltage WU r52950 2 Orange Line to line voltage Field supply 3U1 3W1 r52950 3 Field current r52952 1 blue field voltage 3C 3D r52951 1 orange ...

Страница 46: ...istor see operating instructions section 6 4 e g X11 5 Torque direction I MI Thyristor 3 X21 7 Torque direction II MII Thyristor 4 If the two positive or negative current maximum values are missing the thyristor does not fire MI X11 1 Thyristor 1 X11 3 Thyristor 2 X11 5 Thyristor 3 MI X11 7 Thyristor 4 X11 9 Thyristor 5 X11 11 Thyristor 6 MII X21 1 Thyristor 1 X21 3 Thyristor 2 X21 5 Thyristor 3 M...

Страница 47: ... no less than approx 0 3 A at the output For devices with a higher rated current the rated drive current should be adjusted via p50076 armature circuit p50076 0 field circuit p50076 1 A suitable load at 400 V line voltage would be for example two 100 watt 230 V light bulbs in series For higher device nominal currents implement load with a lower resistance Testing the current converter with a short...

Страница 48: ...simplest case a commutation reactor is used To protect the current converter a commutation inductance is required that produces a 4 voltage drop at the rated current of the converter Vimp 4 A separate commutation reactor or separate transformer winding with 4 Vimp must be used for every current converter used on one power system The permissible Vimp of the reactor transformer winding for the curre...

Страница 49: ...ons are used to maintain radio interference level A1 If these requirements are specified by the plant operator RFI suppression filters must be installed As RF interference is lower on DC drives than on AC drives with frequency converters filters are only implemented on the former if the customer makes a special request Note The filters specified in the catalog are intended for grounded power syste...

Страница 50: ...with 6RA80 with a nominal direct current actual value acc to r50072 1 from 300 to 2000 A if 6RA80 is connected in parallel use CCPs in parallel and nominal line voltages from 400 to 690 V Siemens technical advisers will support you with configuration Conduction through is a physical effect of the line commutated converter and is an effect that can occur during braking operation regenerative feedba...

Страница 51: ...id not usually include a closed loop controlled field device which made a commutation reactor superfluous a commutation reactor must be retrofitted for the field circuit if the field supply is used in 6RA80 Its rated alternating current should be equal to the rated current of the motor field if this is not known dimension it for the rated current of the field power supply unit New 6RA80 converters...

Страница 52: ...ies windings are frequently to be found in old motors See under http support automation siemens com WW view en 40871945 Armature winding commutating winding and compound winding are arranged in series and then led outwards via terminals A1 and A2 for the customer connection The effective value for resistance Ra and induction La applies to all four windings collectively The field winding Motor flux...

Страница 53: ...es to a constant field current irrespectively of the temperature dependent field resistance and the line voltage assumed to be sufficiently high the required direct voltage sets itself automatically The motor torque Motor flux and armature current I determine the torque M of the motor M k2 I M motor torque in Nm The motor torque is thus proportional to the product of flux and armature current I Co...

Страница 54: ...g implemented in SINAMICS DCM The resulting winding temperature is calculated with the help of a thermal model of the motor and a warning and fault message are output depending on that result A thermal equivalent time constant is entered as the required setting value in parameter p50114 The curve depicted in Section 10 19 of the Operating Instructions for p50114 applies to all Siemens direct curre...

Страница 55: ...earing Gears are used to adapt the speed of the motor to a particular system speed Relationships Motor speed load speed gear ratio i Convert load variables to the motor side ML i MLM ML Torque on the load side MLM Load side torque converted to the motor side JL i2 JLM JL Moment of inertia on the load side JLM Load side inertia converted to motor side PL PM the power on the load side corresponds to...

Страница 56: ...field winding According to the rating plate the maximum field weakening speed nFmax or n2 when motor is operated in the speed dependent current limit range should not be exceeded as the motor can only be tested for balance and commutation response up to this speed Maintenance The maintenance instructions given in the operating instructions of the components used must be observed SINAMICS DCM Dirt ...

Страница 57: ...and burn marks on the commutator must be removed by grinding If necessary remove the rotor and skim the commutator on the lathe then the slots for example must be reworked with a special saw The minimum permissible commutator diameter is stated in the operating instructions Insulation test Before being installed or after long storage or shutdown periods the insulation resistance of the windings mu...

Страница 58: ...esigned to have a power margin no special precautions are usually required with regard to additional losses due to converter operation However the current commutation with greater current ripple due to converter operation must be taken into account The current ripple of the direct current rms value of the current ripple is calculated This should not be greater than 10 of the rated current of the m...

Страница 59: ... of a synchronous generator solenoid application eddy current brake on the 6RA80 fault free operation on the standard 6RA80 is possible Note An overvoltage protection must be always configured at the direct voltage output of the 6RA80 to protect the thyristors in the 6RA80 This must be suitable for reducing the energy content of the inductive load W Ws L H I A 2 2 in case of a fault http support a...

Страница 60: ...he input variable is a harmonic oscillation As can be seen above the frequency response is obtained from the differential equation by substituting p The advantage of the frequency response is that only the fundamental operation of arithmetic addition subtraction multiplication and division have to be applied unlike solving differential equations Frequency response and transfer function The frequen...

Страница 61: ...lex expression s Below the transfer function is dealt with as a response to a step change in input for several transfer elements Proportional transfer element There is no time delay between input and output only the amplitude of the output is less than or greater than the input Kp is the gain of the P element First order lag element Example Series connection of the resistance and inductance e g in...

Страница 62: ...al action transfer element Example Speed ramp up of a motor with a constant motor and load torque in the armature setting range Proportional plus integral controller PI controller Frequency response GR Kp 1 p Tn p Tn With the factor 1 p Tn it is possible to compensate for a time constant of the control loop here This always compensates for the greatest time constant Kp gain Tn reset time Xe input ...

Страница 63: ...The control equipment must be adjusted to output a manipulated variable y that has the controlled variable x follow a reference variable w or to compensate for a change in disturbance variable z as precisely as possible and with as little oscillation as possible An ideal controller therefore as the relation x t w t 1 or x t z t 0 which would mean that you do not notice any change in the disturbanc...

Страница 64: ...time large time constant must be compensated for to speed up the control process To avoid a static control error the controller must have an integral character To achieve compensation of the large lag using the integral action controller a proportional action is required in addition To compensate for the large time constant T1 it is necessary for the reset time Tn of the controller to correspond t...

Страница 65: ...ponse of the open loop is therefore F0 p Kp Vs 1 pTn 1 pTv pTn 1 pT2 1 p If T2 Tv the following results F0 p Kp Vs 1 pTn pTn pT0 1 p the same expression as above resulting in the following for the optimization Kp T0 2 Vs and Tn 4 If the controlled system consists of first order lags among which one T1 is more than four times greater than the sum of the others the effect of this variable is approxi...

Страница 66: ...e characteristic values have to be change to approach the optimum Setting of the correct rate time Tv of a PID controller according to the compensation method described above The diagrams for the absolute value optimum show that as the gain of the controller increases the steepness of the response also increases causing the overshoot to grow As the reset time increases settling to the final value ...

Страница 67: ...he optimized control loop A controlled system often contains not just two but more time constants and integrals This sometimes results in impermissibly slow settling For example a drive not only has the speed control as a main controlled variable but also the armature current as an auxiliary variable In this case the current control is therefore subordinate to the speed controller For the higher l...

Страница 68: ...ith Tv 4 controller optimized according to the symmetrical optimum Overdrive of the controller can also be reduced by a ramp function generator in the setpoint channel with a suitable choice of ramp time Overview tables for optimization The following tables are used to define optimization method for the control loop according to the time constants of the controlled system and the characteristics o...

Страница 69: ...l optimum Compensation of disturbance variables A controlled system is also subject to disturbance variables such as a load surge on a variable speed drive This load surge results in a system deviation that is corrected by the controller The constancy of the control stated in the Operating Instructions refers to a long period of for example 10 seconds It therefore does not take a transient system ...

Страница 70: ...ed armature current IAN 600 A rated armature voltage UAN 420 V firing angle range 90 degrees for 100 in the calculation of the software Parameters of the dead time element Ideal no load direct voltage Udi Us 1 35 540 V The trigger firing angle for rated armature voltage 2 is derived from the cosine function of the control characteristic cos 2 UAN Udi 420 540 0 778 yields 2 approx 39 degrees Kt 1 2...

Страница 71: ...by an I element with the mechanical time constant TM TM contains the motor inertia and the inertias of the coupled load including the shaft gearing coupling etc In real cases elastic connecting elements such as couplines long flexible torsion shafts or elastic belts often have an effect In this case it is a damped multiple mass oscillator For this reason the rise times calculated above can only ra...

Страница 72: ... connector variable for example to the actual current value or the speed actual value see Sheet 6805 in Chapter 2 of Parameter Manual For gear stage changing change of the TM depending on the gear stage or C axis operation on main spindle drives the Drive Data Set switchover DDS0 to DDS3 can be used The current controller characteristics values can be adapted each multiplied by one connector varia...

Страница 73: ...of the additional speed setpoint The drive would like to rotate faster but the speed is kept at the somewhat lower actual value by the web The speed controller goes to the torque limit This torque limit can now be set to the desired torque limit value by an external variable Input of the additional speed setpoint via the connector number set in p50645 Input of the desired torque limit setpoint via...

Страница 74: ...eans of SIMOTION In the majority of cases 1 Implementation using the DCC on the CUD is sufficient as well as being the lowest cost solution An axial winder characterized that fact that the diameter of the wound material varies as winding progresses There are various methods of implementating the winding function such as indirect tension control direct tension control dancer roll control and v cons...

Страница 75: ...d drives Old thyristor controllers as the feed drive can be replaced by 6RA80 if the time is taken to perform optimization carefully Automatic current controller optimization sometimes has to be improved by manual re optimization Always manually re optimize the speed optimization If necessary perform speed controller adaptation Sheet 6805 If transistor choppers were used because of high dynamic re...

Страница 76: ... support automation siemens com WW view de 47205467 References 1 See Internet for specific product documentation SINAMICS DCM http support automation siemens com WW view en 38157755 133300 2 Einführung in die elektronische Regelungstechnik by Friedrich Fröhr and Fritz Orttenburger in German published by Siemens Aktiengesellschaft Berlin Munich 1970 3 Berechnung von Regelkreisen der Antriebstechnik...

Страница 77: ...quence 8 Control word 8 Controller optimization 64 Absolute value optimum 64 Adaptation of the controllers 71 BO SO optimization comparison 66 Disturbance variables 69 Equivalent time constant of contr loop 67 Example Armature circuit control 70 Optimization overview 68 Overshoots 65 68 Rise time 64 Setpoint smoothing 65 Settling time 64 Symmetrical optimum 65 Transient event 64 Controller structu...

Страница 78: ...er output voltage at 4Q 14 High speed DC circuit breaker 50 Hoisting gear 74 Ideal no load direct voltage 35 39 40 Intermittent flow of direct current 22 37 Intermittent flow of direct current limit 37 Introduction to control engineering 60 Inverter operation 34 35 Inverter shoot through 50 Jog setpoint 9 Laplace transform 60 LED on CUD 2 Limitations 24 Line current 35 Line infeed 31 Line to line ...

Страница 79: ...ed resonance 15 Speed setpoint 9 19 Speed unstable 15 Speed dependent current limit 4 54 Spindle positioning 74 Square wave generator 26 Surge absorbing capacitor circuit 19 Symmetrical control at 4Q 34 Synchronization 17 Technological controls 72 Angular synchronous ctrl 74 Axial winder 73 Cross cutter 74 Current torque limiting ctrl 72 Droop 73 Hoisting gear 74 Load balanced control 72 Machine t...

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