User's Manual

HARSFEN0602
DV[2]
Speed command
-
Torquecommand
(DV[1], Amp)
Speed
controller:
KP,KI
High order
filter
FF[1] d/dt
Automatic
Controller
Selector
0
Fixed if
GS[2]=0
Position sensor
Speed
Estimator
Encoder pulse
timer
Speed feedback
Figure 40 – A Block Diagram of the Speed Controller
15.2.2 The Parameters of the Speed Controller
The basic continuous time PI controller is
s
sKK
PI
+
,
where:
I
K is the integral parameter, and
P
K is the proportional parameter
When using the scheduler, K
P
and K
I
are functions of time. When not using the gain scheduler, they are
fixed.
The input to the PI element is the speed error,
)(te
SPEED
[Internal speed units]
)()()( tackSpeedFeedbtndSpeedCommate
SPEED
−=
The output is the current command
)(tI in Ampere units:








⋅⋅+⋅=
∫
)()()()(
0
tpteKdeKKtI
SPEEDP
t
SPEEDISpeed
ττ
Speed
K is the conversion factor from D/A scale to current in [Amp]
BITSVALUEMC
MC
K
Speed
__
=
, 14000__ =BITSVALUEMC
otherwise
countGSdteandsamplesGSforcountsencodernoif
tp
SPEED
]14[
32768
1
]0[
1
0
)(
<



=
∫
For the non-scheduled case
]2[
]2[
KIK
KPK
I
P
=
=