User`s manual

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Magtrol Model DSP6001 Dynamometer ControllerChapter 5 – PID Settings
SETUP
5.3.3 eqUationS
Where Skp, Ski and Skd are system coefficients…
Yd(t) = (e(t) - e(t-3) + 3 * (e(t-1) - e(t-2))) * (10/Skd) * D%
Yp(t) = (e(t) + Yd(t)) * (10/Skp) * P%
Yi(t) = Yi(t-1) + (e(t) + Yd(t)) * (10/Ski) * I%
Yt(t) = Yp(t) + Yi(t)
Ys(t) = Scale * Yt(t)
5.4 ADDITIONAL SCALE FACTOR
The Additional Scale Factor is a multiplier of the P, I or D term. Due to the fact there are so many
different dynamometer types and motor combinations, this multiplier is needed to extend the range
of the PID. The letters represent the following:
A = 0.001 F = 0.5
B = 0.005 G = 1
C = 0.01 H = 5
D = 0.05 I = 10
E = 0.1
In using the multiplier, the user can input PID numbers from 0.001 (.001 x 1%) to 990 (10.0 x 99%)
with good resolution.
5.4.1 How to Set aDDitionaL SCaLe faCtor
Before following the setup instructions, the values that must be set will need to determined. This
will depend on which testing instrument has been chosen for the configuration. For appropriate
settings, refer to the guide provided in Appendix F: Additional Scale Factor Table. Once the proper
settings have been determined, proceed with the following instructions for setup.
5.4.1.1 Setting Additional Scale Factor for P (Proportional Gain)
1. Starting from the main menu, press and hold the P button. While holding the P button, press
SHIFT.
2. Use the P button to toggle through the letters in the unit (A, B, C, D, E, F, G, H and I).
3. Choose the letter that corresponds with the pre-determined setting provided in the Additional
Scale Factor Table shown in Appendix F.
4. Once the letter is chosen, press SHIFT to return to the main menu.
5.4.1.2 Setting Additional Scale Factor for I (Integral)
1. Starting from the main menu, press and hold the I button. While holding the I button, press
SHIFT.
2. Use the I button to toggle through the letters in the unit (A, B, C, D, E, F, G, H and I).
3. Choose the letter that corresponds with the pre-determined setting provided in the Additional
Scale Factor Table shown in Appendix F.
4. Once the letter is chosen, press SHIFT to return to the main menu.