Efficient Networks Siemens Sinamics S120 - Manual (Page 87)

Servo control
3.10 Optimizing the current and speed controller
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
87
3.10 Optimizing the current and speed controller
General information
CAUTION
Controller optimization may only be performed by skilled personnel with a knowledge of
control engineering.
The following tools are available for optimizing the controllers:
● "Function generator" in STARTER
● "Trace" in STARTER
● "Measuring function" in STARTER
● CU320 measuring sockets
Optimizing the current controller
The current controller is initialized when the system is commissioned for the first time and is
adequately optimized for most applications.
Optimizing the speed controller
The speed controller is set in accordance with the motor moment of inertia when the motor is
configured for the first time. The calculated proportional gain is set to approximately 30% of
the maximum possible gain in order to minimize vibrations when the controller is mounted on
the mechanical system of the machine for the first time.
The integral time of the speed controller is always preset to 10 ms.
The following optimization measures are necessary in order to achieve the full dynamic
response:
● Increase the proportional gain Kp_n (p1460)
● Change the integral action time Tn_n (p1462)
Automatic controller setting of the speed controller (frequency response analysis) in STARTER
● The automatic speed controller setting has the following features:
– Section identification using FFT analysis
– Automatic setting of filters in the current setpoint arm, e.g. for damping resonances
– Automatic setting of the controller (amplification factor Kp, integral time Tn)
● The automatic controller settings can be verified with the measuring functions.
The "Automatic controller setting" parameter screen is selected with the
icon in the
toolbar of the STARTER commissioning tool: