Elmo HARSFEN0602, HARmonica software manual 203, KP = SpeedKpTable k KI = SpeedKiTable k

HARSFEN0602ElmoHARmonicaSoftwareManual			PRELIMINARYDRAFT
	commands	accepted slowly to
	guarantee stability.
	Limit the schedulink below		Y = max (Y , MinSpeed)
	Get the index to the gains table by		n = [Y / 4096]
	interpolating the indexing		q = (Y /16 mod GS[15]) / GS[15]
	function
			k = SpeedIndexTable[n] +
			(SpeedIndexTable[n + 1] − SpeedIndexTable[n]) ⋅ q
	Get the gains		KP = SpeedKpTable[k]
			KI = SpeedKiTable[k]
			Kpos = PositionKpTable[k] (UM=4 and UM=5 only)
			β(k) =DoubleLeadBeta[k]
			G(k)=DoubleLeadG[k] (if a block of type #22 used in
			high order filter)
		Table 15-4 – Automatic Gain Scheduling Process

GS[N] and KG[N] programs the parameters of the automatic gain scheduling process, as follows:

Parameter	Description	Range
GS[1]	MinSpeed:	0.. 16*62*GS[15] internal speed
	minimal speed command for speed	units
	and dual gains scheduling [cnt/sec]	(1 Speed unit = Cnt/Ts / 2^16 )
GS[2]	Use automatically speed-scheduled	0,64
	gains:
	64 – yes
GS[4]	GsFilterUpGain* 32768	0.. 32767
	Upwards gain of the gain scheduling
	filter
GS[5]	GsFilterDnGain* 32768	0.. 32767
	Downwards gain of the gain
	scheduling filter
	Table 15-5 – Gain scheduling automatic indexing parameter

203