ElmoMC SimplIQ Software Manual - Manual (Page 220)

SimplIQ Software Manual The Controller
MAN-SIMSW (Ver. 1.4)
15-2
The following table lists the parameters of the algorithms referred to in this chapter. Details
are available in the
SimplIQ Command Reference Manual.
Parameter Description
UM Unit mode. Determines the type of control algorithm used:
speed, dual position or open loop.
KP[N] N=2: Inner speed loop proportional gain
N=3: Outer loop gain (UM=4 and UM=5)
KI[N] N=2: Inner speed loop integral gain, I.
KV[N] Coefficients for high-order filter. The parameter KV[0] asserts if these
filters are used: If KV[0] is zero, the advanced filter is not used.
GS[N] Gain scheduling parameters.
MC Maximum drive phase current.
PL[1] Maximum motor phase peak current.
WS[28] Sampling time of the controller, in microseconds.
Table 15-2: List of All Control Parameters
Notation:
Standard mathematics notation is used here:
ƒ
The time derivative is denoted by the letter s.
ƒ The expression sx is equivalent to dx/dt.
ƒ The expression x/s is equivalent to ∫xdt, where t is the time and x(t) is any signal.
ƒ The operator z denotes a time advance of a single sampling time.
For a digital system with the sampling time of T
s
:
zx(kTx) = x[(k + 1) T
s
] or simply zx(k) = x(k+1).
15.1 Speed Control
15.1.1 Block Diagram
This is the most basic closed loop control form. The basic control block of the speed
controller is the PI. The optional blocks are the high-order filter (composed of a series of
blocks of the types explained previously) and the gain scheduler. A block diagram of the
speed controller is given in the following figure.
The gain scheduler can be used or the gains of the controller can be fixed using GS[2]=0. The
high-order filter can be used or not used; to avoid using the high-order filter, set KV[0]=0.