Chapter 13 - Speed Controller Tuning; Preliminary Tinung Of Speed Controller - ABB ACS 6000 Commissioning Manual

ABB
13.1

Preliminary Tinung of Speed Controller

ACS 6000 Commissioning Manual

Chapter 13 - Speed Controller Tuning

The first start is normally made using "slow" speed controller. For the
first start change Kp temporarily from the initial value 10, for example to
3 (Par 24.02). After the first start, the speed controller can be made
faster step by step.
Final tuning of the speed controller will be done with coupled mechanics
but it is recommended to check the tuning preliminary also as
uncoupled. This is to clarify that speed controller loop works correctly.
With uncoupled motor one should reach a better step response as
finally with the coupled motor.
The idea is to get the drive performing as well as required by the driven
process. The main requirement is not to make the control as fast as
possible, but only fast enough to make the changes required by
the process, without conflicting with other control loops. Too fast speed
controller may cause unnecessary stress on the mechanical system
(gearbox, belts, etc.).
Tuning of the speed controller must be checked at few different speeds,
for example at 50% of base speed and 50% of maximum speed with 2%
step of the maximum speed. The tested speed points depend naturally
on the process requirement. See also section 13.2 for final tuning for
performance criterias.
Speed step is given in the following way:
Pictures in DriveWindow 2.x versions or in DriveDebug differ from the
following, but the monitored signals are still the same.
1 Run motor to speed you are using for the test.
2 Set DriveWindow STEP function to the signal 120.10
SPEED_STEP. Set step to 2% of the maximum speed and duration
for 3000 ms as shown in the figure below.
3BHS135824 ZAB E01Rev. D 57 (of 62)