Elmo HARSFEN0602, HARmonica software manual 195, Parameters of the Speed Controller

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

					FF[1]	d/dt
			Automatic	Fixed	if
			Controller
				GS[2]=0
			Selector
			0
DV[2]						Torquecommand
				Speed	High order	(DV[1], Amp)
Speed command				controller:KP,KI
		Σ			filter	Σ
	-
			Speed feedback			Position sensor
					Speed
					Estimator
						Encoder pulse
						timer

Figure 40 – A Block Diagram of the Speed Controller

15.2.2The Parameters of the Speed Controller

The basic continuous time PI controller is

KI + KP s , s

where:

K I is the integral parameter, and K P is the proportional parameter

When using the scheduler, KP and KI are functions of time. When not using the gain scheduler, they are fixed.

The input to the PI element is the speed error, eSPEED (t) [Internal speed units]

eSPEED (t) = SpeedCommand (t) − SpeedFeedback(t)

The output is the current command I (t) in Ampere units:

 t				
	∫ K I	⋅ eSPEED (τ )dτ + K P	⋅ eSPEED	
I (t) = K Speed 				(t) ⋅ p(t)
	0			

KSpeed is the conversion factor from D/A scale to current in [Amp]

	K Speed =	MC		_VALUE _ BITS = 14000
			, MC
		MC _VALUE _ BITS
0	if no encoder counts for GS[0] samples and				1	e		dt	< GS[14]count
					32768 ∫		SPEED
p(t) = 
1		otherwise

For the non-scheduled case

K P = KP[2]

K I = KI[2]

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