Speed controller parameters, 2 speed controller parameters – ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference User Manual
Page 293
The speed controller throws exceptions on excessive speed errors (ER[2]) and on
excessive speed (HL[2], LL[2]).
8.2.2
Speed Controller Parameters
The basic continuous-time PI controller is:
s
s
K
K
P
I
+
where:
K
I
is the integral parameter.
K
P
is the proportional parameter.
When using the scheduler, K
I
and K
P
are functions of time. When not using the gain
scheduler, they are fixed.
The input to the PI element is the speed error e
SPEED
(t) [Internal speed units]:
)
(
)
(
)
(
t
ack
SpeedFeedb
t
nd
SpeedComma
t
e
SPEED
−
=
The output to the PI element current command I(t) in Ampere units is:
0
( )
( )
( )
t
I
SPEED
P
SPEED
I t
K
e
d
K
e
t
τ τ
=
⋅
+
⋅
∫
The filter has no units and its DC gain is always unity. The filter is described in greater
detail in the chapter on
Filters
.
For a non-scheduled case:
K
P
= KP[2]
K
I
= KI[2]
The scheduled case is explained in Section
The parameters of the non-scheduled speed controller are:
Parameter Description
KP[2] Proportional
gain
KI[2] Integral
gain
GS[2]
Controller gain selection
FF[1]
Torque feed forward
CL[1]
Continuous torque limit
PL[1]
Peak torque limit
KV[N]
High-order filter parameters
Table 8-3: Non-scheduled Speed Controller Parameters
SimplIQ for Steppers Application Note
The Position and Speed Controller
MAN-STECR (Ver. 1.1)
94