Autotuning: Function for automatic optimisation of the controller settings for speed and position (from V01.06.04, EasyStarter from V01.20.00)
Function extension:
New commissioning function:
Autotuning, a function for automatic optimisation of the controller settings (speed and position):
Speed controller gain (0x2900:001)
Speed controller reset time (0x2900:002)
Position controller gain (0x2980)
Position controller gain (AxisRef Sub Index 093)
The autotuning function is activated via the engineering tool 'Easy Starter'.
The real machine kinematics are stimulated by the autotuning function with a movement profile (trajectory) and in the process the controller settings are adapted to the properties of the control loop/controlled system.
The determined controller settings are based on the well-known Ziegler-Nichols controller optimisation method, see: Link ID 201900055.
In contrast to model-based methods, autotuning involves measuring the actual machine. The determined controller settings are thus optimally matched to the machine.
Contained in which products?
Servo Inverter i950 FW: from V01.06.04.2154
Easy Starter: from V01.20.00
Application:
All applications in which both horizontal and vertical movement is required.
Prerequisite for the application:
The axis with connected mechanics can be moved in a limited range.
Notes:
Autotuning is a commissioning function and may accordingly only be operated under observation.
If strong vibrations of the machine mechanics occur, the execution of the function must be aborted.
Before executing the autotuning function, make sure that the drive components (motor, encoder, brake and kinematics) are correctly parameterised.
For safety reasons, it is recommended to start the autotuning function from the lower end position of the travel range for suspended loads.
The control characteristics of the machine will change depending on the load. Accordingly, the optimisation should be carried out with and without load and from this a stable controller setting should be selected for all load conditions that occur.
