Method for Adjusting Values of a Plurality of Parameters of at Least One Controller of an Electric Drive System, and Electric Drive System

Abstract

A method adjusts values of a plurality of parameters of at least one controller of an electric drive system. The method provides an individual replacement parameter value that can be adjusted by a user. After adjusting the replacement parameter value, the method calculates the values of the plurality of parameters from the adjusted replacement parameter value.

Claims

1.-10. (canceled)

11. A method for setting values of a plurality of parameters of at least one controller of an electric drive system, the method comprising: providing an individual replacement parameter value able to be set by a user; and after setting the replacement parameter value, calculating values of the plurality of parameters from the set replacement parameter value.

12. The method according to claim 11, wherein the electric drive system has a position controller and a rate of rotation controller, and the plurality of parameters are parameters of the position controller and parameters of the rate of rotation controller.

13. The method according to claim 12, wherein the position controller has a P parameter to be set, and the rate of rotation controller has a P parameter to be set, an I parameter to be set, and/or a filter time to be set.

14. The method according to claim 11, wherein the electric drive system has a state controller for mechanical control variables, and the plurality of parameters are parameters of the state controller.

15. A method for setting values of a plurality of parameters of at least one controller of an electric drive system, the method comprising: providing simulated and/or measured operating variables of the electric drive system; and determining, on the basis of the simulated and/or measured operating variables of the electric drive system, whether at least one control circuit to which the at least one controller is assigned reaches or exceeds its stability limit.

16. The method according to claim 15, wherein the operating variables comprise at least one of: a temporal profile of a current of an electric motor of the electric drive system, a temporal profile of a rate of rotation of the electric motor, and a temporal profile of a position of a component to be moved by way of the electric drive system.

17. The method according to claim 15, wherein a signal that signals whether the at least one control circuit reaches or exceeds its stability limit is generated.

18. The method according to claim 15, wherein the values of the plurality of parameters are changed automatically until the at least one control circuit reaches or exceeds its stability limit, wherein the values of the plurality of parameters that set-in when the stability limit is reached or exceeded are stored as reference values, and wherein the values of the plurality of parameters are then set based on the reference values.

19. The method according to claim 11, wherein an operating surface is generated in order to set the values of the plurality of parameters, wherein the operating surface has a first setting mode, in which only the replacement parameter value is able to be set, and wherein the operating surface has a second setting mode, in which data relating to the at least one control circuit to which the at least one controller is assigned are able to be input, wherein the values of the plurality of parameters are calculated from input data relating to the at least one control circuit in the second setting mode.

20. An electric drive system, comprising: at least one controller; and a controller parameterization device that is configured to execute program code to: provide an individual replacement parameter value able to be set by a user; and after the replacement parameter value is set, calculate values of the plurality of parameters from the set replacement parameter value.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0050] FIG. 1 shows a schematic block diagram of an electric drive system according to an embodiment of the invention.

[0051] FIG. 2 shows an operating surface for setting a replacement parameter of a controller of the electric drive system shown in FIG. 1.

[0052] FIG. 3 shows a temporal profile of signals in the course of automatically setting values of a parameter of a rate of rotation controller shown in FIG. 1.

[0053] FIG. 4 shows a temporal profile of signals in the course of automatically setting values of three parameters of the controllers illustrated in FIG. 1.

DETAILED DESCRIPTION OF THE DRAWINGS

[0054] FIG. 1 shows an electric drive system 1 in highly schematic form.

[0055] The electric drive system 1 has a position controller 2, a rate of rotation controller 3 connected downstream of the position controller 2, a current controller 4 connected downstream of the rate of rotation controller 3 and an inverter 5 driven by way of the current controller 4, wherein the inverter 5 conventionally drives an electric motor 6. Such a cascaded controller structure is known per se, and so reference may also be made to the relevant specialist literature in this respect.

[0056] The components 2 to 5 may be part of a servo-converter.

[0057] The electric drive system 1 serves to move a mechanical component 8.

[0058] With reference to FIG. 2, an operating surface or parameterization device 10, which may be in the form for example of a PC with corresponding parameterization software, is provided in order to set values of parameters P1, P2, Pn of at least one of the controllers 2, 3, 4.

[0059] The position controller 2 has a P parameter to be set, denoted P1 by way of example in FIG. 2.

[0060] The rate of rotation controller 3 has a P parameter to be set, denoted P2 by way of example in FIG. 2, an I parameter to be set, denoted P3 by way of example in FIG. 2, and a filter time to be set, denoted Pn by way of example in FIG. 2.

[0061] The parameters P1 to Pn are illustrated only symbolically in FIG. 2 and are not visible to a user and are not able to be set directly in the illustrated operating mode of the parameterization device 10.

[0062] Rather, a replacement parameter setting unit 11 is visible and able to be operated, by way of which replacement parameter setting unit a replacement parameter value PE is able to be set by the user. A setting procedure may for example involve rotating the replacement parameter setting unit 11, vertically or horizontally sliding the replacement parameter setting unit 11, etc.

[0063] Following setting and/or during setting of the replacement parameter value PE, the parameterization device 10 calculates the values of the plurality of parameters P1, P2, . . . Pn from the set replacement parameter value PE based on a predefined algorithm, such that the user performing setting is spared from a complex setting procedure in which said user has to set all of the parameters, possibly also in a specific order.

[0064] FIG. 3 shows a temporal profile of signals in the course of automatically setting the values of at least one of the parameters P1 to Pn of the controllers 2 to 4 shown in FIG. 1. In detail, FIG. 3 illustrates a setting optimization profile of a value of a parameter in the form of a gain factor of the PID rate of rotation controller 3.

[0065] In the graph at the top, the profile of a motor position Ø is illustrated in °. Each “serration” represents a desired individual movement of the motor 6.

[0066] In the graph below, the error e.sub.Ø in ° is illustrated as a quality criterion. The error e.sub.Ø becomes smaller when the controller is set to be increasingly rigid with an increasing gain factor over time.

[0067] The graphs below illustrate the rate of rotation n in °/s and the rate of rotation error e.sub.n in °/s. The bottom graph on the far right shows an oscillation starting, that is to say the stability limit is reached, this being detected according to the invention and being used for the optimized setting of the values of the parameters of the controllers.

[0068] FIG. 4 accordingly shows a temporal profile of signals in the course of automatically setting values of three parameters of the controllers 2, 3 and 4 illustrated in FIG. 1.

[0069] The top three signals form input signals for determining the stability limit and/or control quality, followed by three signals derived from the input signals and that display a detected stability limit, and the bottom graph finally illustrates the profile of the control quality.

[0070] As is apparent from FIG. 4, the control quality is able to be improved considerably by way of automatically setting the values of the parameters of the controllers based on automatically detecting the stability limit, such that it is possible for example to considerably reduce a tracking error.