User`s manual

DS2100 User's Manual APPENDIX B: GUI
PAGE 52
B.3.16.37 Position PI Loop Compensators
The Position PI Loop Compensators panel allows the user to set the configuration of the PI loop gains and
to see the feedback values.
The output of the compensator is limited to motvelliminc, a term derived from the motor_max_velocity
parameter. The compensator also implements anti-windup for the compensator’s integrator.
CONFIGURATION
• PI comp. p-gain (Kp) → The p-gain of the PI compensator (1/s).
• PI comp. i-gain (Ki) → The i-gain of the PI compensator (1/s^2).
• Vel. Pi comp. p-gain (Kp) → The p-gain of the velocity loop PI compensator used in position
mode (Nm/rad/s). This is separate to the velocity loop compensator used in velocity mode.
• Vel. Pi comp. i-gain (Ki) → The i-gain of the velocity loop PI compensator used in position
mode (Nm/rad). This is separate to the velocity loop compensator used in velocity mode.
• position loop rate divider → The rate divider of the position loop mode – the number of current
loop samples per position loop sample.
FEEDBACK
• demand → The requested value of the position (note that the units for this parameter will only be
correct (rad) when the drive is position mode)
• position (rad) → The actual value of the position
• PI comp. error → The difference between position and demand.
• velocity command → velocity command prior to acceleration limiting (the output from the PI
compensator)
• 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