Getting started
Let's begin with some information about youController
In this phase, you will tune the [Standard] speed loop PI controller of Altivar 930. The controller setting rules per Altivar Process ATV900 [1] give you a simple way to parametrise your controller (see Documentation, p. 178 – for gain limits and p. 363 – for the influence of gains):
\(P + I \dfrac{1}{s}\)
Now you may set the gain parameters of the proportional [Speed prop. gain] SPG and integral time constant [Speed time integral] SIt of the controller. Leave the [K speed loop filter] SFC factory value.
Run the experiment
- Please write the Factory setting: According to the drive rating of \(P = 60\) and \(I = 40\) in the controller dashboard.
- Set the [PI setpoint] to 40.
- Preset speed 2, SP2 is the value of the speed reference [PI setpoint] at which the motor switches as it approaches the target floor. It can be set less or equal to the initial setpoint.
- Change the state of the [Enable control button] switch to ON.
- To make the Elevator Car move please choose the target floor from the Landing Calls panel or choose the target floor from the Car calls panel and click the green [Start] button.
- After each experiment you should take a look at the speed response and target floor end-switch state (0 – no car, 1 – car at the floor). Before changing the parameters make a snapshot of your findings in png format. Write down the Step time in ms, Overshoot value in Hz, Settling time in ms at motor start and time elapsed from target end-switch on state and motor halt.
- For each set of controller parameters (Overshoot is present, No overshoot), run the experiment (for the same setpoint). Try a few other combinations you think are the best fit for the elevator application.
Document your results
| Parameter | Controller with overshoot | Controller without overshoot | Best set of parameters |
|---|---|---|---|
| Proportional gain | |||
| Integral gain | |||
| Step time, ms | |||
| Overshoot, Hz | |||
| Settling time, ms | |||
| Halt time, ms | |||
| Screenshots |
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Which differences were you able to see between the controller parametrisations?
Ramp
In this phase, you will tune the [Ramp] of Altivar 930. The [Ramp Type] RPT per Altivar Process ATV900 [1] gives you a simple way to parametrise the [Ramp Type] RPT, [Acceleration] ACC and [Deceleration] DEC (see Documentation, p. 330):
Run the experiment
- Utilising the best set of speed controller gains from the previous step, change the [Ramp Type] RPT ([Linear], [S-Ramp], [U-Ramp]) as well as [Acceleration] ACC time and [Deceleration] DEC time. [Ramp increment] INR is set to Factory setting = 0.1.
- Before changing the parameters make a snapshot of your findings in png format. Write down the Step time in ms, Overshoot value in Hz, Settling time in ms at motor start and time elapsed from target end-switch on state and motor halt.
Document your results
| Parameter | Linear | S-Ramp | U-ramp |
|---|---|---|---|
| ACC, s | |||
| DEC, s | |||
| Step time, ms | |||
| Overshoot, Hz | |||
| Settling time, ms | |||
| Halt time, ms | |||
| Screenshots |
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Which differences were you able to see between the ramp parametrisations? Which [Ramp Type] RPT do you think is the best fit for Passenger elevator applications?