automation and drives sinamics_s120 sinamics drive commissioning workshop closed loop bode analysis...
TRANSCRIPT
![Page 1: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/1.jpg)
Automation and Drives
SINAMICS_S120
SINAMICS drive Commissioning Workshop
•‘Closed loop’ Bode Analysis
•Current Controller Tuning
•Speed Controller Tuning
•Position Controller Tuning
Engineering-Software SIMOTION SCOUT
![Page 2: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/2.jpg)
Automation and Drives
SINAMICS_S120
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
The axis will travel in the positive direction with readings started after the offset. Reduce the travel with a lower Measuring periods.
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.
![Page 3: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/3.jpg)
Automation and Drives
SINAMICS_S120
Start the axis and then Run Trace and use X Cursor to find Frequency of 1st Pole
![Page 4: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/4.jpg)
Automation and Drives
SINAMICS_S120
Record Frequency for use in next section
![Page 5: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/5.jpg)
Automation and Drives
SINAMICS_S120
Open Current Setpoint Filter and use Previous value for Notch Frequency.
![Page 6: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/6.jpg)
Automation and Drives
SINAMICS_S120
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.
![Page 7: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/7.jpg)
Automation and Drives
SINAMICS_S120
Start the axis and Measuring function again . Now adjust the Current controller gain and Int. times to achieve the desired responseP1715 = gain P1717 = int. time.
![Page 8: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/8.jpg)
Automation and Drives
SINAMICS_S120
Note the default value for the gain and integration time
![Page 9: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/9.jpg)
Automation and Drives
SINAMICS_S120
Adjust Kp and Tn from the default values
![Page 10: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/10.jpg)
Automation and Drives
SINAMICS_S120
Notice the Overshoot in the Current Actual
![Page 11: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/11.jpg)
Automation and Drives
SINAMICS_S120
Adjust current curve to desired value
![Page 12: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/12.jpg)
Automation and Drives
SINAMICS_S120
Curve example on DEMO drive
![Page 13: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/13.jpg)
Automation and Drives
SINAMICS_S120
Values used in Last Example Curves - optimized Current Controller settings
![Page 14: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/14.jpg)
Automation and Drives
SINAMICS_S120
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.
![Page 15: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/15.jpg)
Automation and Drives
SINAMICS_S120
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
![Page 16: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/16.jpg)
Automation and Drives
SINAMICS_S120
Observe Curves for Overshoot or Delay
Starting values for this example: P gain p1460[0] = 0.100 Nms/radReset time p1462[0] = 100 ms
![Page 17: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/17.jpg)
Automation and Drives
SINAMICS_S120
Ensure Torque Limits are not exceeded during speed step response
![Page 18: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/18.jpg)
Automation and Drives
SINAMICS_S120
Adjust Kp and Tn to desired value
![Page 19: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/19.jpg)
Automation and Drives
SINAMICS_S120
Adjust Kp and Tn for Desired Results
Speed Controller settings this example: P gain p1460[0] = 0.200 Nms/radReset time p1462[0] = 50 ms
Speed controller optimized, and torque limit not exceeded
![Page 20: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/20.jpg)
Automation and Drives
SINAMICS_S120
Closed Speed Controller Measuring Function – Frequency Domain
Select the first Measuring function from the drop down list. This function is used to optimize the Speed Controller parameters in the 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.
![Page 21: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/21.jpg)
Automation and Drives
SINAMICS_S120
Measurement of Closed Speed Controller – Bode Diagram – Frequency Domain Only P- controlled Kp = p1460[0] Nms/rad
Kp=0.04 Nms/rad, Kp=0.1 Nms/rad, Kp=0.2 Nms/rad, Tn =1000 ms
Higher Kp gain increases the band width of the controller
Red: Peak above 0 dB Controller can start oscillating!
![Page 22: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/22.jpg)
Automation and Drives
SINAMICS_S120
• Comparison of Time Domain and Frequency Domain– Kp=0.04 Nms/rad, Kp=0.1 Nms/rad, Kp=0.2 Nms/rad, Tn =1000 ms
Higher Kp gain increases the band width of the controller shorter rise time (see step response)
![Page 23: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/23.jpg)
Automation and Drives
SINAMICS_S120
• 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
The Reference model can be used to dampen the initial overshoot with an aggressive Kp setting.
![Page 24: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/24.jpg)
Automation and Drives
SINAMICS_S120
Step 1: Switch on the speed additional set-point from the axis System variableAxis.servosettings.additionalcommandvalueswitch = YES
CAUTION: Remember to deactivate this setting upon completion of the position tuning.
Closed Position Controller - Axis Position Tuning
Step 2: Setup a temporary program to enable the axis to allow the function generator to enable movement of the axis.
![Page 25: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/25.jpg)
Automation and Drives
SINAMICS_S120
Open the Expert list of the Axis for balanceFilterMode, kpc, and preCon
TypeOfAxis.NumberOfDataSets.ControllerStruct.PV_Controller.balanceFilterMode
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.
1
2
3
Step 3: Open the expert list and initialize the PV_Controller variables shown below.
![Page 26: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/26.jpg)
Automation and Drives
SINAMICS_S120
Step 4: Initialize DynamicData with zero values for positionTimeConstant, torqueTimeConstant, and velocityTimeConstant.
Step 3: The values from previous slide are now in the current value column
![Page 27: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/27.jpg)
Automation and Drives
SINAMICS_S120
Adjust the Amplitude to limit the travel of the oscillating axis.
Step 5: Configure the function generator to the Signal Name: Triangular with a carefully selected Amplitude and Period
![Page 28: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/28.jpg)
Automation and Drives
SINAMICS_S120
Adjust the Positioning window and the Standstill window to prevent function fromGenerating a Standstill error. Rotary axis will be in degrees.
![Page 29: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/29.jpg)
Automation and Drives
SINAMICS_S120
Step 6: Configure a trace with the axis data as shown below.
![Page 30: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/30.jpg)
Automation and Drives
SINAMICS_S120
Kpc = 0.0 %Kv = 10, Following error 0.4
Step 6: Run the initial trace and note the Following error readings.
![Page 31: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/31.jpg)
Automation and Drives
SINAMICS_S120
Kpc = 100.0 %Kv = 10, Following error 0.016
Step 7: Optimize the performance by setting Kpc Weighting factor of the precontrol to 100%
![Page 32: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/32.jpg)
Automation and Drives
SINAMICS_S120
Step 8: Continue to optimize the performance with adjustments to the Kv value.
Kpc = 100.0 %Kv = 40, Following error 0.016
![Page 33: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/33.jpg)
Automation and Drives
SINAMICS_S120
Kpc = 100.0 %Kv = 80, Following error 0.016
![Page 34: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/34.jpg)
Automation and Drives
SINAMICS_S120
Kpc = 100.0 %Kv = 200, Following error 0.012 Axis movement may be to stiff for mechanical connections with this Kv
![Page 35: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/35.jpg)
Automation and Drives
SINAMICS_S120
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
![Page 36: Automation and Drives SINAMICS_S120 SINAMICS drive Commissioning Workshop Closed loop Bode Analysis Current Controller Tuning Speed Controller Tuning Position](https://reader035.vdocuments.site/reader035/viewer/2022062223/5518a081550346c31f8b4856/html5/thumbnails/36.jpg)
Automation and Drives
SINAMICS_S120
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