Curtis Instruments AC F4-A User Manual

4 — PROGRAMMABLE PARAMETERS
pg. 41
Return to TOC Curtis AC F4-A Motor Controller – August 2020
SPEED MODE — SPEED CONTROLLER MENU
PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION
Max Speed
Max_Speed_SpdM
0x383A 0x00
100 – 8000 rpm
100 – 8000
4000 rpm Denes the maximum requested motor rpm at full throttle. Partially
applied throttle is scaled proportionately; e.g. 40% applied throttle
corresponds to a request for 40% of the set Max Speed Value.
Note:
• The maximum motor rpm is subject to the lower of the three
rpm constraints.
• If Max_Speed_SpdM is set ≤10 rpm (through VCL), the throttle
request is zeroed.
Kp
Kp_SpdM
0x3831 0x00
0.0 – 200.0
0 – 16384
30 % Determines how aggressively the speed controller attempts to
match the speed of the motor to the commanded speed. Larger
values provide tighter control.
High gain values may experience oscillations as the controller
tries to control speed.
If the gain is set too low, the motor may behave sluggishly and be
difcult to control.
Ki LS
Ki_SpdM
0x382F 0x00
5 – 100 %
50 – 1000
30 % The Ki LS parameter sets the Ki for low vehicle speeds. The integral
term (Ki) forces zero steady state error so the motor will run at
exactly the commanded speed. Larger values provide tighter control.
High gain values may experience oscillations as the controller
tries to control speed.
If the gain is set too low, the motor may take a long time to
approach the exact commanded speed.
Ki HS
Ki_HS_SpdM
0x382C 0x00
5 – 100 %
50 – 1000
30 % The Ki HS parameter sets the Ki for high vehicle speeds. The integral
term (Ki) forces zero steady state error so the motor will run at
exactly the commanded speed. Larger values provide tighter control.
If the gain is set too high, oscillations may occur as the controller
tries to control speed.
If the gain is set too low, the motor may take a long time to
approach the exact commanded speed.
SPEED MODE/SPEED CONTROLLER — VEL FEEDFORWARD MENU
PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION
Kvff
Kvff_SpdM
0x3832 0x00
0 – 500A
0 – 5000
0 Amp The design of the velocity feedforward term is to improve throttle
responsiveness and speed controller performance, especially at
low speeds. This Velocity Feedforward is a constant value in the
direction of the velocity trajectory.
For traction systems set it to 50–70% of the current needed to
maintain a very low speed unloaded on at ground.
For a pump system set it to the lowest load current (i.e. the current
running at the minimum load). Alternatively, the responsiveness of
a pump speed-control-loop is typically enhanced by using a VCL
program to continuously update this parameter to the appropriate
value as each pump load is requested.
Build Rate
Vel_FF_Build_Rate_SpdM
0x385F 0x00
0.1 – 5.0 s
100 – 5000
1.0 sec Determines how fast the Kvff term builds up.
For traction systems if you feel or hear the mechanical lash
(backlash) pick up abruptly when you move the throttle from
neutral to a very small value, slowing the build rate (i.e. setting it
to a higher value) will soften the feel.
For a pump system start with this parameter at the minimum
setting. Slowing it down (i.e. setting it to a higher value) will reduce
speed over-shoot if too much feedforward has been commanded.
Release Rate
Vel_FF_Release_Rate_SpdM
0x3860 0x00
0.1 – 5.0 s
100 – 5000
0.4 sec Determines how fast the Kvff term releases.
If the release seems too abrupt, slowing the release rate (i.e.
setting it to a higher value) will soften the feel. It should be set
fast enough (i.e. at a low enough value) to prevent the vehicle
from running on after throttle release.

Curtis Instruments AC F4-A Specifications

General

Brand	Curtis Instruments
Model	AC F4-A
Category	Controller
Language	English