Lenze 9400 Manual de usuario descargar pdf (Pagina 176)

5 Motor interface

5.5 Sensorless vector control (SLVC)

176

Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06

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Setting of actual speed filter

In order to maximise the dynamics of the speed control loop, the actual speed filter should be

operated with a time constant as low as possible (C00497

). The lower the time constant the higher

the gain of the speed controller. Since actual value filters have the task to dampen measuring errors

or interference components, it must be found a compromise between filter task and the resulting

delay.

If a Lenze motor is selected from the motor catalogue, a time constant is automatically preset in

C00497

which serves to operate the motor even with a faulty detection (e.g. in case of a bad shield

connection).

When using EMC-compliant systems or high-quality encoders, you can reduce the preset time

constant considerably. For this purpose, the running noise of the motor can be used for setting

C00497

at constant speed.

If this is not possible, e.g. due to a too loud environment or because the motor is too far away, the

noise of the actual speed value or the setpoint torque value can be used for evaluation by means of

the Oscilloscope

. Please observe that the speed controller gain Vp (C00070) in is used for the torque

setpoint.

5.5.3.3 Optimising torque controller

To optimise the torque controller a steep speed ramp is required which reaches into the field

weakening range (e.g. 1.2 * rated speed). For this purpose, the drive must be operated at its current

and voltage limit.

The gain (C00987

) and reset time (C00988) of the torque controller are to be set so that the actual

cross current can preferably follow the cross current setpoint.

• If oscillations occur during the cross current (see illustration [5-13]

), the gain (C00987) is to be

reduced until the drive is stable again (see illustration [5-14]

).

• Afterwards the reset time (C00988

) can be reduced as long as the drive accelerates in a stable

way.

 Stop!

Reduce the maximum current in C00022 for this adjustment to approx. 130 % of the

motor magnetising current (C00092

) to prevent shocks on the drive!

 Note!

If no field weakening operation is required, the adjustment must be executed in the base

speed range.

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