Lexium05系列伺服调试应用指导(中文版).pdf

Lexium 05. Tuning Application Note Lexium 05 TUNING APPLICATION NOTE october 2006 Tuning Application Note October 2006. 1 Lexium 05. Tuning Application Note INTRODUCTION Why an autotuning Speed and position loop parameters of a servo drive system depend and react on the coupled mechanical system and the stiffness of coupling or interacting mechanical parts Behaviour, mass and structure of mechanical systems differ widely. Many users are not familiar with control theory and the adjustment of control parameters of a servo drive system. Target: an automated procedure Develop an automated procedure for setting the control parameter Support mechanical system with friction and constant load (Z-axis) Under all conditions, this parameter setting has to ensure a stable system behaviour Tuning Application Note October 2006. 2 Lexium 05. Tuning Application Note 1. Shaft adjustement (AUTOTUNING) Before executing any movement to operate as a positioner, it is advisable that you perform the shaft gain tunings, i.e. the P.I.s of the speed and position regulators. A tool is available for this called Autotuning, which facilitates the adjustment of the system tremendously with a few parameters. This must always be done when the motor is connected to the load and,under the worst operating conditions (maximum load). This is performed when