Siemens SINAMICS S120 System Manual page 152

Drive functions
5.3 Closed-loop velocity control
Reference model
The dynamic response of the velocity control loop to control commands without an I
component in the velocity controller is simulated in the reference model. In the ideal case of
exact simulation, there is no deviation after the setpoint/actual value comparison at the
integrator under no-load conditions. In practice, velocity overshoot in response to control
commands can be reduced in this way.
The reference model is defined using the natural frequency (p1433) and damping (p1434)
parameters.
Manipulated variable, velocity controller
Two manipulated variable filters have been implemented. p1656 is used to enter the number
of manipulated variable filters in the velocity controller. No filter is active in the default
setting. You can choose between bandstop filters and 2nd order low-pass filters, which are
set in p1657.
Table 5- 1
0
1
2
Enter the configuration for 2 manipulated variable filters. Bandstops (BS) and low-pass filters
can be selected. The filter parameters are entered in the associated parameter data.
Note
The filter machine data must be assigned before the filter type is configured.
Table 5- 2
Table 5- 3
The main filter data are defined using p1657 to p1661 and p1662 to p1666.
152
Selecting the number of manipulated variable filters in the velocity controller
No manipulated variable filter active
Filter 1 active
Filters 1 and 2 active
Manipulated variable filter type in the velocity controller
1. Filter Bit 0
2. Filter Bit 1
Filter combinations
Filter 2 Filter 1
PT2 PT2
PT2 BS
BS PT2
BS BS
0 Low-pass ( p1658/p1659)
1 Bandstop (see p1660/p1661)
0 Low-pass (see p1663/p1664)
1 Bandstop (see p1665/p1666)
System Manual, 04/2015, 6SL3097-4BA00-0BP1
p1657
0
1
2
3
Hydraulic Drive