Elmo HARmonica, HARSFEN0602 software manual 194, Speed Control 15.2.1Block diagram, Not found

HARSFEN0602ElmoHARmonicaSoftwareManual			PRELIMINARYDRAFT
		N=3: Outer loop gain (UM=4 and UM=5)
	KI[N]	N=2: Inner speed loop Integral gain, I.
	KV[N]	Coefficients for the high-order filter.
		The parameter KV[0] asserts if these filters are used at all – if KV[0] is zero, then
		the advanced filter is not used.
	GS[N]	Gain scheduling parameters. More details see chapter “Error! Reference source
		not found.”
	MC	Maximal motor phase current
	WS[28]	Sampling time of the controller in microseconds.

Table 15-2 – List of all control parameters

Notation: We use standard math notation. The time derivative is denoted by the letter s. The expression sx is equivalent to dxdt , and the expression x / s is equivalent to ∫ xdt , where t is the time and x(t) is any signal. The operator z denotes a time advance of a single sampling time. For a digital system with the sampling time of Ts we have

zx(kTs ) = x[(k + 1)Ts ] or simply zx(k) = x(k + 1) .

15.2Speed Control

15.2.1Block 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 above) and the gain scheduler. A block diagram of the speed controller is given in Figure 40.

The gain scheduler can be used, or the gains of the controller may be fixed. The high order filter can be used, or not.

To fix the controller gains, set GS[2]=0.

To avoid the use of the high order filter, set KV[0]=0.

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