Siemens SINAMICS S120 Function Manual page 138

Servo control
5.13 Optimizing the current and speed controller
Example 1: Measuring the speed controller frequency response
By measuring the speed controller frequency response and the control system, critical
resonant frequencies can, if necessary, be determined at the stability limit of the speed control
loop and dampened using one or more current setpoint filters. This normally enables the
proportional gain to be increased (e.g. K
After the K
can be determined.
Example 2: Speed setpoint step change
A rectangular step change can be applied to the speed setpoint via the speed setpoint step
change measuring function. The measuring function has preselected the measurement for the
speed setpoint and the torque-generating current.
Figure 5-16
136
value has been set, the ideal integral time T
p_n
Setting the proportional gain K
= 3 default value).
p_n
(e.g. reduced from 10 ms to 5 ms)
n_n
p
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
Drive functions