To set up a AKD drive with a non-plug and play feedback device
Parameters
The following parameters can be initialized to their default values or calculated from user-supplied motor data:
|
IL.KP |
IL.LIMITN |
VL.KP |
PL.KI = 0 (Default Value) |
|
IL.KFFACC |
IL.LIMITP |
VL.KI |
PL.INTINMAX = 0.419 (Default Value) |
|
IL.KBUSFF |
IL.PWMFREQ |
VL.LIMITN |
PL.INTOUTMAX = 0.419 (Default Value) |
|
IL.FRICTION |
IL.KVFF |
VL.LIMITP |
MOTOR.IPEAK |
|
IL.OFFSET |
IL.FOLDFTHRESHU |
VL.THRESH |
MOTOR.ICONT |
|
IL.INTEN |
IL.FOLDWTHRESH |
VL.KVFF |
MOTOR.PITCH |
|
IL.IVFB |
IL.MFOLDD |
PL.KP |
MOTOR.POLES |
|
IL.KPDRATIO |
IL.MFOLDT |
PL.KD = 0 (Default Value) |
MOTOR.TYPE |
Calculations
WorkBench uses the following equations to calculate parameter values.
Current Loop
The current loop proportional gain (IL.KP) must be such that the current loop closed loop crossover frequency/bandwidth (BW) nominal is the lesser of 2000 Hz or (PWM Frequency/4).
Then, with this frequency:
IL.KP = 2*π*(desired bandwidth in Hz)*(motor L line-line in H)
Setting the D and Q components
Velocity Loop
VL.KP = (2*π*75)*(2*Jm/Kt) = 300*PI*Jm/Kt
VL.KI = 5
Input - Motor Data
The values for inertia, Jm (Kg / cm2), and torque constant, Kt (Nm/A), are obtained from either the SFD or the motor model number that you select.
Constants
Velocity Loop Bandwidth – BW = The default value is 75Hz.
Input - Inertia Ratio – Q = The default is 1.
Output - Control Loop Gains
VL.KP = 2 * π * BW * Jm * (1+Q) * 0.0001/Kt
VL.KPI = BW*0.08 -1 (minimum of 1)
PL.KP = BW/5
