On some documents I found two methods to tune the speed controller of a drive (PI-regulation):
1. Set integral time to a very large value(f.i. 1000ms)
Input a constant input signal (1..5% of maximum value) to
optimize at a friction-optimal operation point.
Increase Kp until controller oscillates (evaluate
the manipulated value). Reduce Kp to half of that value.
Now reduce Tn until the controller oscillates again. Set
Tn to double of that value.
2. Transient function/ Step respons :
Set integral time to a very large value(f.i. 1000ms)
Input a step reference. The manipulated value must not go
into limit. Observe the actuals speed and adjust the Kp
the response is as fast as possible but there is no overshoot. No decrease Tn until there is just one
overshoot (20-50% of maximum value).
Which of the two methods should be prefered? How do you tune the speed controller of a drive (supposed you don't use a wizard in the drive software). Did you ever manually tune the current controller of drive (supposed you don't use a wizard in the drive software).
Thanks
1. Set integral time to a very large value(f.i. 1000ms)
Input a constant input signal (1..5% of maximum value) to
optimize at a friction-optimal operation point.
Increase Kp until controller oscillates (evaluate
the manipulated value). Reduce Kp to half of that value.
Now reduce Tn until the controller oscillates again. Set
Tn to double of that value.
2. Transient function/ Step respons :
Set integral time to a very large value(f.i. 1000ms)
Input a step reference. The manipulated value must not go
into limit. Observe the actuals speed and adjust the Kp
the response is as fast as possible but there is no overshoot. No decrease Tn until there is just one
overshoot (20-50% of maximum value).
Which of the two methods should be prefered? How do you tune the speed controller of a drive (supposed you don't use a wizard in the drive software). Did you ever manually tune the current controller of drive (supposed you don't use a wizard in the drive software).
Thanks