User`s manual

APPENDIX B: GUI DS2100 User's Manual
C27750-001 PAGE 51
B.3.16.36 Velocity Loop Compensators
The Velocity Loop Compensators panel allows the user to set the velocity loop compensator
configuration and to see the feedback values.
In velocity mode, the velocity compensator is an I-PI configuration.
The output of this compensator is limited ±Imax, and these limits can be read using the upper and lower
limit parameters of the compensator.
CONFIGURATION
• extd vel comp. p-gain (Kp) → The p-gain of the velocity compensator (Nm/rad/s).
• extd vel comp. i-gain (Ki) → The i-gain of the velocity compensator (Nm/rad).
• extd vel comp. ie-gain → The ie-gain of the velocity compensator.
• velocity loop rate divider → The rate divider for the velocity loop – the number of current loop
samples per velocity loop sample.
FEEDBACK
• velocity command → velocity command prior to acceleration limiting
• velocity command (previous) → velocity command after acceleration limiting
• actual velocity (filtered) (rad/s) → low pass filtered velocity
• extd vel. comp. error → difference between actual velocity and demanded velocity
• torque cmd (vel comp o/p) (A) → the output from the velocity compensator
• torque cmd (gen filter o/p) (A) → the output from the velocity compensator after passing
through the generic filter block