Elmo HARmonica, HARSFEN0602 software manual 120, PI current controller

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

Torque Cmd Vs. Torque Controller Input

	5000
	4500
	4000			XP[5]=5000
	3500
	3000			XP[5]=1000
Amp	2500			XP[5]=400
	2000
	1500
	1000
	500
	0
	0	2	4	6	8	10	12	14	16
			Current Controller Sampling Times

Figure 13: Rate limiting for the torque input filter

We recommend not to change the factory setting of XP[5] and XP[6] in standard applications.

10.2.2The PI current controller

The controllers for the IQ and the ID components are similar. Their block diagram is given below.

Bus Voltage Filter

120

Bus voltage

VB

Com m and

- Σ

Feedback

		Proportional gain
	Kp[1]/VB
	Integrator
ε	∑ k		KI[1]/VB
	k	ε	Integral gain

Saturation

Output

Anti wind up Σ

Figure 14: Current PI controller

For the IQ and the ID controllers, the Inputs/Outputs have the following roles:

Parameter	Q controller	D controller
Bus voltage	Measured & filtered motor power DC voltage
Command	Torque command	0