Droop Function - Siemens SINAMICS G130 Operating Instructions Manual

Setpoint channel and closed-loop control
7.4 Vector speed/torque control with/without encoder
Free Kp_n adaptation
• p1455
• p1456
• p1457
• p1458
• p1459
• p1466
Speed-dependent Kp_n/Tn_n adaptation (VC only)
• p1460
• p1461
• p1462
• p1463
• p1464
• p1465
Dynamic response reduction field weakening (encoderless VC only)
• p1400.0
7.4.4.4

Droop Function

Description
Droop (enabled via p1492) ensures that the speed setpoint is reduced proportionally as the
load torque increases.
The droop function has a torque limiting effect on a drive that is coupled to a different speed
(e.g. guide roller on a material web). In this way, a very effective load distribution can also be
realized in connection with the torque setpoint of a leading speed-controlled drive. In contrast
to torque control or load distribution with overriding and limitation, with the appropriate
setting, such a load distribution controls even a smooth mechanical connection.
This method is only suitable to a limited extent for drives that are accelerated and braked
with significant changes in speed.
The droop feedback is used, for example, in applications in which two or more motors are
operated with a common shaft and fulfill the above requirements. It limits the torque
differences that can occur as a result of the connection between the motors by modifying the
speeds of the individual motors (drive is relieved when the torque becomes too great).
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Speed controller P gain adaptation signal
Speed controller P gain adaptation lower starting point
Speed controller P gain adaptation upper starting point
Adaptation factor lower
Adaptation factor upper
CI: Speed controller P gain scaling
Speed controller P gain adaptation speed lower
Speed controller Kp adaptation speed, upper scaling
Speed controller integral time adaptation speed lower
Speed controller Tn adaptation speed, upper scaling
Speed controller adaptation speed lower
Speed controller adaptation speed upper
Speed control configuration: Automatic Kp/Tn adaptation active
Inverter chassis units
Operating Instructions, 07/2016, A5E00331449A