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Hello everyone!
if parameters of PI speed controller are set according to symetrical optimum as (
Sinamics S120 Drive Functions, chapter 6.4
):
Tn = 4 · Ts
Kp = 0.5 · r0345 / Ts = 2 · r0345 / Tn
Ts = total of the short delay times (contains p1442 and p1452)
how exactly is the value of Ts obtained? Will it be just a sum of delays in p1442 and p1452? Or is there any other delay time included?
I do sensorless vector control including pre-control. Thanks for any help.
Regards,
Karol
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