Instruction Manual

178 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Appendix C Control Block Diagrams
spd_reg.eps
Spd Reg BW Spd Reg Damping SpdReg P Gain Mx Total Inertia
90 92 91
9
set param 90 = 0 to manually adjust param 81 & 82
*
25 26
22
X
23 24
0
Autotune
Bypass
74
157 5
8
157 04
75 76
93 94
89
85
84
81
82
153 18
102 103
95 96
0
86
Speed Control - Regulator
(Task 1)
Droop
318
301
71
300
100
101
302
0
1
157 06
0
Logic Ctrl State
Atune Spd Ref
Limit
Logic Ctrl State
(Inrta Tst En )
Logic Ctrl State
(CurrLim Stop)
Speed Trim 3
SpdTrim 3 Scale
Spd Ref Bypass 2
Speed Trim 2
STrim2 Filt Gain
SpdTrim 2 Filt BW
ServoLck
ks
s
P Gain
kp
Limit
Spd Reg P Gain *
Spd Reg I Gain *
0
1
87
303
Spd Reg Pos Lim
Spd Reg Neg Lim
FeedFwd
nff
SRegFB Filt Gain
SRegFB Filt BW
Filtered SpdFdbk
Motor Spd Fdbk
Motor Speed Ref
Speed Error
SpdReg AntiBckup
Spd Err Filt BW
Servo Lock Gain
Control Options
(Jog -NoInteg )
Logic Command
(SReg IntgHld ) (SReg IntgRst)
Control Options
(SpdRegPreset )
SRegTrqPreset
Motor Torque Ref
Spd Reg Droop
0
1
SRegOut FiltGain
SReg Out Filt BW
Logic Ctrl State
(Spd Reg En )
Spd Reg PI Out
Posit Spd Output
from Speed Control
- Reference [4H5]
from Position Control
to Torque Control
[7A3]
2
nd
Order
LPass
Filter
SpdReg Integ Out
1 2 3 4 5 6
BA
D
C
FE HG
I
(J Tst FulSpd) (Spd Reg En )
1
from Feedback [9H2]
Lead Lag (kn * s)+ wn
s + wn
Lead Lag (kn * s)+ wn
s + wn
Lead Lag (kn * s)+ wn
s + wn
48
Rev Speed Lim
Fwd Speed Lim
+
-
+
+
-
+
+
+
+
-
153 12
151 05
157 08
06
+
+
+
[13H3] [14H4]
I Gain
ki
s
# All Regulators and Filters BW values are expressed as Radians / Second. The Notch filter is in Hertz .
Ovr Smpl
4x