Start-up
26
Optimise the P-part of the speed controller: Set the integration time to
0 to change the PI (proportional integral) controller into a P controller:
Give a step change up, for example 10% (of the maximum speed of
the drive). When the speed is stabilised, give a step change down, for
example -10% (of the maximum speed of the drive).
Increase the proportional gain until the response is sufficient:
Reduce the integration time (TI) until an overshoot is observed in the
response.
Adjust the integration time so that there is no overshoot or only a slight
overshoot (depending on the drive application). The integral part is
used to correct the error between the reference and actual value
(which is caused by the proportional control) as quickly as possible.
If the drive is stable and allows a high proportional gain,
an overcompensated step response is obtained if the integration time
is set short.
Acceleration (deceleration) compensation can be used to improve the
speed control dynamic reference change (when the speed ramp times
> 0). In order to compensate inertia during acceleration, a derivative of
the speed reference is added to the output of the speed controller.
Set the derivation time for acceleration (deceleration) compensation.
The value should be proportional to the total inertia of the load and
motor, i.e. approximately 10…30% of the mechanical time constant
(
t
mech
). See the mechanical time constant equation in section
on page
Gain too low
Gain too high
Gain optimal
TI too long
TI too short
TI optimal
Summary of Contents for ACSM1 Series
Page 1: ...ACSM1 Firmware Manual ACSM1 Speed and Torque Control Program...
Page 2: ......
Page 4: ......
Page 12: ...Table of contents 12...
Page 49: ...Drive control and features 49...
Page 282: ...Standard function blocks 282...
Page 306: ...Application program template 306...
Page 312: ...Control chain block diagrams 312...
Page 331: ...331...
Page 332: ...332...
Page 333: ......