Siemens SINUMERIK 840C - Manual (Page 1112)

08.96 12 Functional Descriptions
12.33.2 Optimization of speed controller
12.33.2.1 Machine data
MD 1001: Speed controller clock cycle
MD 1004: Configuration control structure
MD 1406: Speed controller type
MD 1407: P gain speed controller
MD 1408: P gain upper adaptation speed
MD 1409: Reset time speed controller
MD 1410: Reset time upper adaptation speed
MD 1411: Lower adaptation speed
MD 1412: Upper adaptation speed
MD 1413: Select adaptation speed controller
MD 1414: Natural frequency reference model speed
MD 1415: Damping reference model speed
MD 1416: Symmetrizing reference model speed
MD 1421: Time constant integrator feedback
MD 1665: Long-time factor IPO/NCONT cycle for ramp generator
12.33.2.2 Optimization of proportional gain of speed controller
The proportional gain is optimized as the first step in optimizing the speed controller. For this
purpose, MD 1409: Reset time speed controller is set to 500 ms, effectively deactivating the
integral-action component. The proportional component is then incremented until resonance
points in the system are reached (motor begins to whistle). The P gain which is determined by
this method must then be multiplied by a factor of 0.5. The product is then the start value for
the first frequency response measurement.
12.33.2.3 Optimization of integral-action component (reset time) of
speed controller
After the proportional gain has been determined, the reset time of the speed controller is
decreased until the amplitude response begins to rise above the 0 dB line. An increase over
the line of 3 dB is generally permitted. A value of < 20 ms is the target guide value for the
reset time.
© Siemens AG 1992 All Rights Reserved 6FC5197- AA50 12–337
SINUMERIK 840C (IA)