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Optimizing the speed controller

Speed controller setup dialog box

Bild: Speed controller setup dialog box

	Gain (KP)
	Integral-action time (I)
	Scaling factor for gain
	With these filters it is possible to filter noise in the actual speed value and increase the attenuation of resonance frequencies.
	Advanced speed control (observer).htm
	Analysis of speed control.htm
	Actual speed filter

Tabelle: Function description of speed controller dialog box

Adaptation of parameters

Acceleration and braking phases generate a variation which the speed control has to balance out. With speed pre-control the necessary acceleration or braking moment determined from the change in speed over time is applied to the output of the speed controller.
If the travel range is not limited, it is advisable to optimize the speed controller by means of step responses. In this, the motor model must be adapted precisely to the individual motor. In the standard motor data set the speed controller is preset for a moderately stiff mechanism. The speed controller may still need to be adapted to the moment of inertia and the rigidity of the mechanical system.

All parameters take effect online. The scaling parameter
P 0322 CON_SCON_KpScale is transferred in defined real time (according to the speed controller sampling time).

The following steps are needed to set the speed control loop depending on the application:

• Adapt the speed controller gain to the existing external mass inertia. For this, either the known moment of inertia from the motor data can be used directly or the automatic mass inertia definition function in the Motor Identification subject area cab be used.
  
• If the system's moment of inertia is defined manually, it must be reduced to the motor.
  

J_M = Moment of inertia of motor

J_red = Reduced moment of inertia of system

i = Gear transmission ratio factor

Reduced moment of inertia