User`s manual

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW
PAGE 5-52
from the sampled phase A and phase B motor currents current_phase_A_feedback, current_phase_B_feedback,
respectively.
For close inspection of torque, the observer predicted current_q-axis_observer
, or the actual q-axis feedback,
current_actual
, can be monitored using the GUI’s oscilloscope, as can any of the parameters listed below.
qcomp.pgain
qcomp.igain
1
s
iq
iqd
+
-
vdc
-vdc
vcq
+
+
dcomp.pgain
dcomp.igain
1
s
id
idd
(generally = 0)
+
-
vdc
-vdc
vcd
+
+
Figure 5.11 : d,q current compensator
Gain calibration parameters can be used to back off the current loop gain at high currents to enable the use of motors
with high saturation. The current_loop_foldback_breakpoint
sets the current at which the current loop gain starts to
reduce and current_loop_foldback_minimum
sets the fraction of the gain to be used at maximum current. The gains
are decreased linearly between the current_loop_foldback_breakpoint
and the maximum current.
The current loop d and q axis compensators
gains, and the observer α and β compensators tuning gains are
summarised in the table below.
Index Name Type Units Comment
0x60F6/1 current_loop_d-axis_i-gain f32 Volts/Amp/Tsamp dcomp.igain
0x60F6/2 current_loop_d-axis_p-gain f32 Volts/Amp dcomp.pgain
0x60F6/3 current_loop_q-axis_i-gain f32 Volts/Amp/Tsamp qcomp.igain
0x60F6/4 current_loop_q-axis_p-gain f32 Volts/Amp qcomp.pgain
0x60F6/9 current_loop_alpha_observer_i-gain f32 Volts/Amp/Tsamp oacomp.igain
0x60F6/10 current_loop_alpha_observer_p-gain f32 Volts/Amp oacomp.pgain
0x60F6/11 current_loop_beta_observer_i-gain f32 Volts/Amp/Tsamp obcomp.igain
0x60F6/12 current_loop_beta_observer_p-gain f32 Volts/Amp obcomp.pgain
0x60F6/5 current_loop_foldback_minimum f32 none calkmin