Fuxx Control - ARS 2320 / ARS 2340 Instruction Manual - Kuhnke

KUHNKE Automation Fuxx Control ARS 2320 / ARS 2340
Positioning and interpolation
Trajectory calculation:
- Position setpoint
- Speed feedforward
- Current feedforward
Setpoint management
- Analog inputs
- Fixed values
- Synchronisation
- Ramp generator
X2A
X2B
X10
Position
controller
Figure 4: ARS 2300 control structure
Speed controller
Actual value management
Current
controller
Output
stage Motor
Angle
encoder 1
and 2
PWM M E1 E2
Figure 4 shows the basic control structure of the ARS 2300. The current controller, the speed
controller and the position controller are arranged in the form of a cascade control system. Due to the
rotor-oriented control mechanism, the current can be set separately as active current (iq) and reactive
current (id). Therefore there are two current controllers, both of them PI-controllers. To provide a better
overview, however, the id-controller is not shown in Figure 4.
The basic operating modes are torque control with speed limitation, speed control with torque
limitation, and positioning. Other functions such as synchronization, "flying saw", etc. are variants of
these basic operating modes.
5.2.2 Pulse width modulation (PWM)
With the ARS 2300 servo positioning controller, the clock frequency can be adjusted variably in the
current controller circuit. To a large extent, this clock frequency can be adjusted with the help of the
ServoCommander parameterization program. To minimize switching losses, the clock frequency of
the pulse width modulation can be divided in half compared to the frequency in the current controller
circuit.
In addition, the ARS 2300 servo positioning controller has a sine modulation or alternatively a sine
modulation with third harmonic. This increases the effective converter output voltage. The type of
modulation can be selected using the ServoCommander parameterization software. The default
setting is sine modulation.
Table 23: Output voltage at the motor terminals in the case of UZK = 560V
Converter output voltage Output voltage at the motor terminals
UA,(sin)
UA,(sin+sin3x)
ULL,motor = approx. 320 Veff
ULL,motor = approx. 360 Veff
E 732 GB 45
14.12.2006