Wizard For Configuring A Motor Drive System

• US 20090134829A1
• Filed: 05/22/2008
• Published: 05/28/2009
• Est. Priority Date: 05/31/2005
• Status: Active Grant

• Current Assignee: Rockwell Automation Technologies Incorporated (Allen-Bradley Co., Inc.)
• Original Assignee: Rockwell Automation Technologies Incorporated (Allen-Bradley Co., Inc.)
• Inventors: PIEFER, RICHARD W., BAUMANN, KEVIN L., KELLER, JOHN M., KELLER, MICHAEL ROBERT, REHM, THOMAS J., GOLOWNIA, JOHN JOSEPH JR., STRINGFELLOW, DAVID CHRISTOPHER
• Granted Patent: US 7,719,219 B2
• Time in Patent Office: Days
• US Class Current: 318/446
• CPC Class Codes: G05B 19/409 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters G05B19/408, G05B19/4093 take precedence
• CPC Class Codes: G05B 2219/33114 Configure motion controller to drive any kind of motor type connected
• CPC Class Codes: G05B 2219/33127 Display each control parameter by name and its value
• CPC Class Codes: G05B 2219/36122 Operator menu with submenu for each item
• CPC Class Codes: G05B 2219/45187 Printer

Abstract

An electronic line shaft comprising a motor drive comprising a velocity noise filter coupled to receive a feedback position signal and operable to filter the feedback position signal to generate a feedback velocity signal where the noise filter has at least one controllable filter parameter that affects filter operating characteristics and a processing unit operable to execute a wizard for configuring the motor drive, the wizard being operable to receive mechanical characteristic data associated with the motor drive that is provided as input by a wizard user via a user interface and to determine a noise parameter based on the mechanical characteristic data, wherein the at least one controllable filter parameter is adjusted as a function of the noise parameter.

Claims

1. An electronic line shaft, comprising:

a motor drive comprising a velocity noise filter coupled to receive a feedback position signal and operable to filter the feedback position signal to generate a feedback velocity signal where the noise filter has at least one controllable filter parameter that affects filter operating characteristics; and

a processing unit operable to execute a wizard for configuring the motor drive, the wizard being operable to receive mechanical characteristic data associated with the motor drive that is provided as input by a wizard user via a user interface and to determine a noise parameter based on the mechanical characteristic data;

wherein the at least one controllable filter parameter is adjusted as a function of the noise parameter.

2. The line shaft of claim 1 wherein the at least one controllable noise parameter includes a number of taps in the velocity noise filter.

3. The line shaft of claim 2, wherein the motor drive further comprises a velocity regulator having a first adjuster operable to receive the feedback velocity signal and a reference velocity signal and compare the reference velocity signal and the feedback velocity signal to generate a velocity error signal and a velocity error filter operable to filter the velocity error signal, and the wizard is operable to determine a bandwidth of the velocity error filter as the control parameter based on the number of taps.

4. The line shaft of claim 3, wherein the motor drive further comprises a velocity compensator operable to receive a reference velocity signal, determine a derivative of the reference velocity signal, and multiply the derivative by a velocity compensation gain factor to generate a velocity compensation signal, and the wizard is operable to determine the velocity compensation gain factor as the control parameter based on the number of taps.

5. The line shaft of claim 1 wherein the at least one controllable noise parameter comprises a noise index.

6. The line shaft of claim 1 wherein the motor drive further comprises an inertia adaption unit operable to receive the feedback velocity signal and generate a feedback acceleration signal based on the feedback velocity signal, the wizard operable to enable or disable the inertia adaption unit based on the mechanical characteristic data.

7. The line shaft of claim 6 further comprising:

an inertia compensation unit operable to receive a reference velocity signal, generate a derivative of the reference velocity signal, and multiply the derivative by an inertia compensation gain factor to generate an inertia compensation signal; and

an adjustor operable to adjust the reference velocity signal as a function of the inertia compensation signal;

wherein the wizard is operable to receive a system inertia parameter, determine the inertia compensation gain factor as a function of the system inertia parameter, and adjust the inertia compensation gain factor responsive to the enabling of the inertia adaption unit.

8. The electronic line shaft of claim 7, wherein the wizard is operable to increase the inertia compensation gain factor by a factor of about 50% responsive to the enabling of the inertia adaption unit.

9. The electronic line shaft of claim 2 wherein the wizard is operable to determine a noise bandwidth based on the number of taps in the velocity noise filter, set the noise bandwidth as a maximum velocity bandwidth, and limit the selected velocity bandwidth to a value less than the maximum velocity bandwidth.

10. The electronic line shaft of claim 9 wherein the controller gain constant comprises at least one of a proportional gain constant and an integral gain constant.

11. An electronic line shaft, comprising:

a motor drive comprising a velocity noise filter coupled to receive a feedback position signal and operable to filter the feedback position signal to generate a feedback velocity signal; and

a processing unit operable to execute a wizard for configuring the motor drive, the wizard being operable to receive mechanical characteristic data associated with the motor drive that is provided as input by a wizard user via a user interface device, determine a noise parameter based on the mechanical characteristic data and determine at least one control parameter of the motor drive based on the noise parameter;

wherein the control parameter comprises a number of taps in the velocity noise filter.

12. A method for configuring a motor drive, the motor drive including a velocity noise filter coupled to receive a feedback position signal and operable to filter the feedback position signal to generate a feedback velocity signal where the noise filter has at least one controllable filter parameter that affects filter operating characteristics, the method comprising the steps of:

providing a wizard for entering user input via a user interface, the input including mechanical characteristic data associated with the motor drive;

receiving the mechanical characteristic data;

determining a noise parameter based at least in part on the mechanical characteristic data; and

using the noise parameter to adjust the at least one controllable filter parameter.

13. The method of claim 12, wherein determining the noise parameter further comprises determining a noise index.

14. The method of claim 12, wherein the step of determining a noise parameter includes determining a number of taps in the velocity noise filter.

15. An electronic line shaft, comprising:

a motor drive; and

a processing unit operable to execute a wizard for configuring the motor drive, the wizard being operable to receive mechanical characteristic data associated with the motor drive that is provided as input by a wizard user, determine a noise parameter based on the mechanical characteristic data, and determine at least one control parameter of the motor drive based on the noise parameter.

16. The electronic line shaft of claim 15 wherein the noise parameter comprises a noise index.

17. The electronic line shaft of claim 15 wherein the motor drive comprises a velocity noise filter coupled to receive a feedback position signal and operable to filter the feedback position signal to generate a feedback velocity signal, and the control parameter comprises a number of taps in the velocity noise filter.

18. The electronic line shaft of claim 17, wherein the motor drive further comprises a velocity regulator having a first adjuster operable to receive the feedback velocity signal and a reference velocity signal and compare the reference velocity signal and the feedback velocity signal to generate a velocity error signal and a velocity error filter operable to filter the velocity error signal, and the wizard is operable to determine a bandwidth of the velocity error filter as the control parameter based on the number of taps.

19. The electronic line shaft of claim 17 wherein the motor drive further comprises a velocity compensator operable to receive a reference velocity signal, determine a derivative of the reference velocity signal, and multiply the derivative by a velocity compensation gain factor to generate a velocity compensation signal, and the wizard is operable to determine the velocity compensation gain factor as the control parameter based on the number of taps.

20. The electronic line shaft of claim 15 wherein the motor drive further comprises an inertia adaption unit operable to receive a feedback velocity signal and generate a feedback acceleration signal based on the feedback velocity signal, and the wizard is operable to enable or disable the inertia adaption unit based on the mechanical characteristic data.