User's Manual

HARSFEN0602
N=3: Outer loop gain (UM=4 and UM=5)
KI[N] N=2: Inner speed loop Integral gain, I.
KV[N] Coefficients for the high-order filter.
The parameter KV[0] asserts if these filters are used at all – if KV[0] is zero, then
the advanced filter is not used.
GS[N] Gain scheduling parameters. More details see chapter “Error! Reference source
not found.”
MC Maximal motor phase current
WS[28] Sampling time of the controller in microseconds.
Table 15-2 – List of all control parameters
Notation: We use standard math notation. The time derivative is denoted by the letter s.
The expression
sx
is equivalent to
dtdx
, and the expression sx / is equivalent to
∫
xdt
,
where t is the time and x(t) is any signal. The operator z denotes a time advance of a single
sampling time. For a digital system with the sampling time of
s
T we have
])1[()(
ss
TkxkTzx +=
or simply )1()( += kxkzx .
15.2 Speed Control
15.2.1 Block diagram
This is the most basic closed loop control form. The basic control block of the speed
controller is the PI. The optional blocks are the high order filter (composed of a series of
blocks of the types explained above) and the gain scheduler. A block diagram of the speed
controller is given in Figure 40.
The gain scheduler can be used, or the gains of the controller may be fixed.
The high order filter can be used, or not.
To fix the controller gains, set GS[2]=0.
To avoid the use of the high order filter, set KV[0]=0.