Lenze DSD Bedienungsanleitung PDF herunterladen (Seite 323)

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Lenze · Drive Solution Designer · Manual · DMS 4.2 EN · 12/2013 · TD23 323

11 Drive Dimensioning

11.2 Motor selection

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11.2.8.3 Possible speed controller amplification factors

The following illustration shows the theoretically possible speed controller amplification factors for

cyclic load alternation (rough guide values):

[11-7] Theoretically possible speed controller amplification factors as a function of K

From a control-related perspective, a great moment of inertia, and therefore a great k

factor re-

quires a great amplification factor V

in the speed controller.

• Because of backlash and elasticity in the gearbox, standard controller structures can only reach

certain k

factors in the practical control-loop implementations.

• If these values are exceeded, they lead to a reduced control response or even instability, par-

ticularly with regard to cyclic load alternations.

• If there are no load alternations, the stable control range moves up towards higher k

factors.

11.2.8.4 Optimising controls with a high load-matching factor

If high load-matching factors k

cannot be avoided for speed-controlled or angle-controlled systems,

a backlash-free or low-backlash mechanical transmission should be used. Toothed belts are well-

suited for this purpose due to their good damping features.

Further measures for optimising controls with high k

factors are:

• Torque feedforward controls for dynamic phases.

•Specific adaptations, e. g. of the amplification factor V

within the speed controller, as a func-

tion of the moments of inertia which in turn can also be variable.

• Speed controller as a P controller.

• Adjustment of the actual speed value filter to load moment of inertia.

• Use of low-jerk motion profiles that do not exert any, or only a low incitation on vibratory sys-

tems.

green = OK

yellow = observe boundary conditions

red = inclination to instability

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