Table of Contents - TG Drives

80
Reg, PID regulator
GENERAL
EXTENDED REGISTER GROUPS
The regulator performs a central function in the system. It determines the torque
needed to make the motor follow the speed and position commands at all times. It
is a parallel PID type of regulator with several feed forward functions. It can be
used in several configurations dependant on the applications characteristics.
It operates with 1 kHz update rate.
The output is a normalized value of the torque calculated each servo cycle. This
output is then used by the commutation logic to create two sinusoidal currents.
FUNCTION
Reg.PosErr
Reg.SpdErr
Reg.IErr
Reg.SpdErr
Reg.TorqLim
Reg.TorqPLim
Reg.TorqNLim
Reg.TorqTime
Reg.TorqCLim
Reg.PGain
Reg.IGain
Reg.DGain
RELATED ITEMS
Pg.Apos
Pg.ASpeed
EXAMPLE USAGE
.
Reg.TorqLim,8000
Reg.TorqCLim,2000
Reg.TorqTime,500
or Reg.Mode,64
.
The inputs to the regulator are the command values for
position, speed and acceleration. Each ms the difference
between the command values and the actual values are
calculated.
The acceleration is used only for the feed forward parts.
The position error is used in the Proportional and the Integral
part, and the speed error is used in the Derivative part. The
feed forward parts are Inertia compensation, Viscous friction,
Static friction and Torque.
These parts makes up the output which is passed trough a
limiting function. There are three different limits, maximum
positive torque (Reg.TorqPLim), maximum negative torque
(Reg.TorqNLim) and maximum continuous torque
(Reg.TorqLim). The output torque is always limited to the
range bounded by Reg.TorqPLim and Reg.TorqNLim.
If enabled, an additional function will limit the output to
Reg.TorqLim. If the output has been larger than this limit for
more than Reg.TorqTime [ms]. This can be seen as a
dynamic torque limit.
By adjusting these limits to proper values, the motor can be
protected from excessive overheating, permitting the thermal
sensor in the motor windings to be able to react fast enough.
The gain and other tuning parameters must be calculated
and/or established by testing for each application.
Command value for position.
Command value for speed.
;set maximum torque limit
;set continuos limit to 25 %
;allow 500 ms of max. torque
;activate dynamic torque limit
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001