SINAMICS drive Commissioning Workshop

1
SINAMICS drive Commissioning Workshop

• Closed loop Bode Analysis
• Current Controller Tuning
• Speed Controller Tuning
• Position Controller Tuning

Engineering-Software SIMOTION SCOUT
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Set the Speed controller gain to 0.1(P1460) and
int. time to 100msec (P1462). Now select
measuring Function 1 from the drop Down Choice
Start with the first Measuring function from the
drop down list. This function is used to locate
the frequency of the Current set point bandwidth
filter.
The axis will travel in the positive direction
with readings started after the offset. Reduce
the travel with a lower Measuring periods.
3
Start the axis and then Run Trace and use X
Cursor to find Frequency of 1st Pole
4
Record Frequency for use in next section
5
Open Current Setpoint Filter and use Previous
value for Notch Frequency.
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Use this Measuring Function Choice for Next Step
Select the last Measuring function from the drop
down list. This function is used to optimize the
Current Controller P Gain (p1715) and reset
(p1717) parameters.
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Start the axis and Measuring function again . Now
adjust the Current controller gain and Int.
times to achieve the desired response P1715
gain P1717 int. time.
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Note the default value for the gain and
integration time
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Adjust Kp and Tn from the default values
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Notice the Overshoot in the Current Actual
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Adjust current curve to desired value
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Curve example on DEMO drive
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Values used in Last Example Curves - optimized
Current Controller settings
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Note Default Value of n (speed) Controller and
set Tn to 100ms
Expand the Open-loop /closed-loop control below
the drive. Double click the Speed controller.
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Closed Speed Controller Measuring Function Time
Domain
Select the fifth Measuring function from the drop
down list. This function is used to optimize the
Speed Controller parameters
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Observe Curves for Overshoot or Delay
Starting values for this example P
gain p14600 0.100 Nms/rad Reset time p14620
100 ms
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Ensure Torque Limits are not exceeded during
speed step response
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Adjust Kp and Tn to desired value
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Adjust Kp and Tn for Desired Results
Speed Controller settings this example
P gain p14600 0.200 Nms/rad Reset time
p14620 50 ms Speed controller optimized, and
torque limit not exceeded
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Closed Speed Controller Measuring Function
Frequency Domain

• This is an optional step to ensure the Kp
  value derived above does not produce a bode
  diagram that raises above the 0db line.

Select the first Measuring function from the drop
down list. This function is used to optimize the
Speed Controller parameters in the Frequency
Domain.
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• Measurement of Closed Speed Controller Bode
  Diagram Frequency Domain
• Only P- controlled Kp p14600 Nms/rad
• Kp0.04 Nms/rad, Kp0.1 Nms/rad, Kp0.2
  Nms/rad, Tn 1000 ms

Red Peak above 0 dB ? Controller can start
oscillating!
Higher Kp gain increases the band width of the
controller
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• Comparison of Time Domain and Frequency Domain
• Kp0.04 Nms/rad, Kp0.1 Nms/rad, Kp0.2 Nms/rad,
  Tn 1000 ms

Higher Kp gain increases the band width of the
controller ? shorter rise time (see step response)
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The Reference model can be used to dampen the
initial overshoot with an aggressive Kp setting.

• Reference Model
• Red Kp 0.15 Nms/rad, Tn 6 ms, fref 250 Hz,
  D 0.707
• Green Kp 0.15 Nms/rad, Tn 6 ms ,fref 60 Hz,
  D 0.707
• Blue Kp 0.15 Nms/rad, Tn 6 ms, fref 130 Hz,
  D 0.707

Reference model too small fref 60 Hz
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Closed Position Controller - Axis Position Tuning
Step 1 Switch on the speed additional set-point
from the axis System variable Axis.servosettings.a
dditionalcommandvalueswitch YES
CAUTION Remember to deactivate this setting
upon completion of the position tuning.
Step 2 Setup a temporary program to enable the
axis to allow the function generator to enable
movement of the axis.
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Step 3 Open the expert list and initialize the
PV_Controller variables shown below.
Open the Expert list of the Axis for
balanceFilterMode, kpc, and preCon
TypeOfAxis.NumberOfDataSets.ControllerStruct.PV_C
ontroller.balanceFilterMode
1

1. Select the entries as shown above in the Next
   value column.
2. Switch the expert list to the System variables
   tab.
3. Select the restartactivation entry as
   activate_restart. Click back on the
   Configuration data tab to have the entries
   accepted into the Current value. See the next
   slide for the result.

2
3
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Step 3 The values from previous slide are now in
the current value column
Step 4 Initialize DynamicData with zero values
for positionTimeConstant, torqueTimeConstant, and
velocityTimeConstant.
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Step 5 Configure the function generator to the
Signal Name Triangular with a carefully selected
Amplitude and Period
Adjust the Amplitude to limit the travel of the
oscillating axis.
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Adjust the Positioning window and the Standstill
window to prevent function from Generating a
Standstill error. Rotary axis will be in degrees.
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Step 6 Configure a trace with the axis data as
shown below.
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Step 6 Run the initial trace and note the
Following error readings.
Kpc 0.0 Kv 10, Following error 0.4
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Step 7 Optimize the performance by setting Kpc
Weighting factor of the precontrol to 100
Kpc 100.0 Kv 10, Following error 0.016
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Step 8 Continue to optimize the performance with
adjustments to the Kv value.
Kpc 100.0 Kv 40, Following error 0.016
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Kpc 100.0 Kv 80, Following error 0.016
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Kpc 100.0 Kv 200, Following error 0.012
Axis movement may be to stiff for mechanical
connections with this Kv
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This trace shows the same Position tuning values
with the period decreased to 800 ms. The overall
spike in the following error can be reduced with
adjustments to Kpc, though this introduces a
greater average following error. Kpc 100.0 Kv
200, Following error 0.2 Axis movement may be
to stiff for mechanical connections with this Kv
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Important parameters for the tuning in Simotion
Cycle time DP-, Servo- and IPO-cycle time DSC
needed Telegram 105 Kv position
controller-amplification Kpc Pre-control FIPO
Fine interpolation type VelocityTimeConstant
(vTc) Symmetry filter time constant (PT1-Glied)
PositionTimeConstant (pTc) Position extrapolation
time