Drive System Application

Closed-loop speed control with the V/f characteristic control type using PID controller operation and encoder
Application description for SINAMICS G120 and MICROMASTER 440

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Closed-loop speed control with the V/f characteristic control type using PID controller operation and encoder Note

ID-No: 24288661

The Application Examples are not binding and do not claim to be complete regarding the circuits shown, equipping and any eventuality. The Application Examples do not represent customer-specific solutions. They are only intended to pro-vide support for typical applications. You are responsible in ensuring that the de-scribed products are correctly used. These Application Examples do not relieve you of the responsibility in safely and professionally using, installing, operating and servicing equipment. When using these Application Examples, you recognize that Siemens cannot be made liable for any damage/claims beyond the liability clause described. We reserve the right to make changes to these Application Examples at any time without prior notice. If there are any deviations between the recommendations provided in these Application Examples and other Siemens publications - e.g. Catalogs - then the contents of the other documents have priority.

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Warranty, liability and support

We do not accept any liability for the information contained in this document. Any claims against us - based on whatever legal reason - resulting from the use of the examples, information, programs, engineering and performance data etc., described in this Application Examples shall be excluded. Such an exclusion shall not apply in the case of mandatory liability, e.g. under the German Product Liability Act (Produkthaftungsgesetz), in case of intent, gross negligence, or injury of life, body or health, guarantee for the quality of a product, fraudulent concealment of a deficiency or breach of a condition which goes to the root of the contract (wesentliche Vertragspflichten). However, claims arising from a breach of a condition which goes to the root of the contract shall be limited to the foreseeable damage which is intrinsic to the contract, unless caused by intent or gross negligence or based on mandatory liability for injury of life, body or health The above provisions does not imply a change in the burden of proof to your detriment. Copyright 2006 Siemens A&D. It is not permissible to transfer or copy these Application Examples or excerpts of them without first having prior authorization from Siemens A&D in writing. If you have any recommendations relating to this document then please send them to us at the following e-mail address: mailto:sdsupport.aud@siemens.com

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Preposition

Closed-loop speed control with the V/f characteristic control type using PID controller operation and encoder

ID-No: 24288661

Preposition
Aim of the application Closed-loop speed control with evaluation of the encoder signals using PID controller and the V/f characteristic control are shown in this example.

Scope Coordinating the closed-loop control system with PID controller and encoder in the following steps:
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Commissioning the pulse encoder module Coordinating the direction of rotation Adapting the PID control

Exclusion This application example does not include a description of how to select the drive inverter and to carry-out basic commissioning It is assumed that readers of this application example have the appropriate basic know-how.

Reference to the Automation and Drives Service & Support This article is from the Internet Application Portal of the Automation and Drives Service & Support. You can go directly to the download page of this document using this link. http://support.automation.siemens.com/WW/view/en/24288661

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Preposition

Closed-loop speed control with the V/f characteristic control type using PID controller operation and encoder

ID-No: 24288661

Table of Contents
Table of Contents ......................................................................................................... 4 1 Commissioning .......................................................................................... 5

1.1 ........ Commissioning the pulse encoder module ................................................. 5 1.2 ........ Selecting the direction of rotation ................................................................ 6 1.3 ........ Adapting the PID controller: .......................................................................... 7 2 References.................................................................................................. 9

2.1 ........ Reference data ................................................................................................ 9 2.2 ........ Internet link data ............................................................................................. 9 2.3 ........ History ............................................................................................................. 9
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Application description

Closed-loop speed control with the V/f characteristic control type using PID controller operation and encoder

ID-No: 24288661

Application description
Contents PID controllers are used for the closed-loop control of various process quantities (e.g. pressure or level). The closed-loop speed control using a PID controller and encoder represents an additional application. In this particular example the closed-loop speed control with the evaluation of the encoder signal using a PID controller and V/f characteristic control is shown. Note: The preferred solution is closed-loop vector control with speed encoder (option).

1
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Commissioning
It has been assumed for this example that the drive inverter with encoder has been correctly commissioned (basis commissioning). The V/f characteristic was selected as closed-loop control type for this application. The following steps are required to commission the control system with PID controller and encoder: Commission the pulse encoder module Select the direction of rotation Adapt the PID controller

1.1

Commissioning the pulse encoder module

The pulse encoder module must be activated corresponding to the encoder type via the parameter range P0400 P0494 or using the DIP switch on the module (refer to the Operating Instructions)

Possible setting when using encoder type 1XP8001-1 / 1024 P0400 = 2 P0408 = 1024 P0491 = 0 P0492 = 10.00 Hz P0494 = 10 ms // 2-track pulse encoder // number of encoder pulses // response, speed signal lost = no transition // permissible frequency difference // delay, response to loss of speed

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Application description

Closed-loop speed control with the V/f characteristic control type using PID controller operation and encoder

ID-No: 24288661

Note: P0400 = 1 (single-track pulse encoder) only supplies an unsigned signal and therefore only permits operation in one direction of rotation. If operation in both directions of rotation is required, then a pulse encoder with 2 channels (A and B) is required together the parameter setting P0400 = 2. Additional information can be taken from the Operating Instructions of the pulse encoder module.

1.2

Selecting the direction of rotation

With the motor rotating and activated encoder, parameters r0061 and r0021 must match regarding Sign and Absolute value (a smaller deviation of a few percent can be assumed)

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The encoder signal may only be used as actual value signal for the PID controller if both of these conditions are fulfilled. If the direction of rotation does not match, then the output phases of the drive inverter or the encoder channels must be reversed in order to prevent unstable behavior of the drive inverter in controlled operation. The motor direction of rotation can be reversed without having to interchange the output phases by setting P1820 to 1. The internal sense of rotation of the encoder can be reversed by setting parameter P0410 to 1.

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Application description

Closed-loop speed control with the V/f characteristic control type using PID controller operation and encoder

ID-No: 24288661

1.3

Adapting the PID controller:

Basic higher-level closed-loop controls can be processed using the integrated PID controller. The technological setpoints and actual values are received via analog inputs (ADC, ADC2) or via serial interfaces (USS at BOP-Link, USS at COM-Link, CB at COM-Link). The appropriate parameterization of the BICO parameters defines the setpoints or actual values that are to be used. In this particular example, the encoder signal (P2264 = 61) is connected via the control inputs intended for the encoder (MM4 encoder module; G120 terminals 70 75).

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Fig. 1-1

Structure of the MM4 PID controller

Fig. 1-2

Structure of the G120 PID controller

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Application description

Closed-loop speed control with the V/f characteristic control type using PID controller operation and encoder

ID-No: 24288661

Parameter settings You will find possible or recommended settings for the PID controller in the following table.
Parameter P2200 P2251 MM440 G120 P2253 Parameter text BI: Enables the PID controller PID mode Setting 1.0 722.x 0 Significance PID controller is always active Digital input x PID as main setpoint

CI: PID setpoint

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P2264 P2257 P2258 P2274 MM430 / MM440 / G120 P2280 P2285

CI: PID actual value Ramp-up time for PID setpoint Ramp-down time for PID setpoint PID differentiating time constant

2224 2250 755.0 2015.1 2019.1 2050.1 61

[0.5] 1) [0.5] 1) [0.000] 1)

PID fixed setpoint (PID-FF) PID-MOP Analog input 1 USS at BOP-Link USS at COM-Link CB at COM-Link Actual encoder frequency Ramp-up time for the PID setpoint Ramp-down time for the PID setpoint PID differentiating time constant, D component

PID proportional gain PID integral time

[3.000] 1) [1.000] 1) [0.000] 1)

110.00%* -10.00%* 0.01%* (for MM440 FW2.09)

P2293 P2267 P2268 P2292

Ramp-up/ramp-down time of the PID limit value Maximum PID actual value Minimum PID actual value Minimum value, PID output

Proportional gain of the PID controller, P component Integration time constant of the PID controller, I component Maximum ramp-up and rampdown time of the PID output Upper limit of the PID actual value signal (as a %) Lower limit of the PID actual value signal (as a %) Lower limit of the PID controller output

Table 1-1 Possible parameter settings

* Recommended settings
1)

This value must be adapted to the conditions prevailing in the equipment/system!

For more detailed information, please refer to the Operating Instructions (MM4 Chapter 3.11; G120 Chapter 8.11) and the parameter list for the appropriate drives.

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Appendix and references

Closed-loop speed control with the V/f characteristic control type using PID controller operation and encoder

ID-No: 24288661

Appendix and references

2
2.1

References
Reference data
This list is in no way complete and only reflects a selection of suitable references.
Table 2-1

Subject area /1/ /2/

Copyright Siemens AG 2006 All rights reserved PDF_V_f_using PID and encoder_en.doc

Title MICROMASTER 440 SINAMICS G120

Operating Instructions Operating Instructions

2.2

Internet link data

This list is in no way complete and only reflects a selection of suitable references.
Table 2-2

Subject area \1\ \2\ \3\ \4\ \5\ \6\ \7\ FAQ FAQ FAQ FAQ FAQ Application Application

Title Using PI Closed Loop Control (MM420) Selecting the transducer type (MM440) How to set up the encoder module JOG with PI control Mode of operation & handling of the PID controller for MICROMASTER 4 and SINAMICS G120 Wobble generator for standard drive inverters PID filling level control with bumpless operating mode changeover

2.3

History
Table 2-3 History

Version V1.0

Date October 2006 First edition

Change

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