DMC Sigma2N - Menu 1.4 Speed Regulator

Simga2N Traction Advanced Manual– V1.3 Page 57 (166) ©2021 DMC GmbH Herten Germany
Menu 1.4 “Speed regulator”
Cal.
Ref.
Parameter name “Calibrator text”
Range
Step
size
Default
Index
Sub-
index
1
Proportional gain speed controller “KpSpd”
0.1 – 63.9
0.1
14.0
0x2010
0x1
2
Integral gain speed controller “KiSpd”
0.1 – 1999.9
0.1
9.0
0x2007
0x2
3
Enable double PI gains for speed controller
“SpdPIx2”
0 – 1
1
1
0x2007
0x3
4
Double PI speed threshold “SpdPITh”
0% - 50%
1%
8%
0x2007
0x4
5
Proportional gain speed controller below threshold
“KpSpdLow”
0.1 – 63.9
0.1
8.0
0x2007
0x5
6
Integral gain speed controller below threshold
“KiSpdLow”
0.1 – 1999.9
0.1
30.0
0x2007
0x6
7
Transition time between the double PI regulators
for speed controller “TransTim”
0.01s – 5.00s
0.01
s
0.3s
0x2007
0x7
8
Speed limit tolerance “SpLimTol”
0% - 40%
1%
20%
0x2007
0x8
9
Speed limit action ramp time “SpLimTim”
0.01s – 8s
0.01s
0.1
0x2007
0x9
M1.4-1 Proportional gain speed controller “KpSpd”
In torque mode it determines how aggressively the speed controller limits the speed of the motor to the active
speed limit value. Larger values provide tighter control.
If Kp is set too high, oscillations could arise when the controller starts to limit speed.
If Kp is set too low, the top speed might result higher than speed limit (overshoot).
!VERY IMPORTANT This adjustment has no effect in torque mode if “M1.4-8 Speed limit tolerance
“SpLimTol””is set greater than 0%.
In speed mode it determines how quickly the speed controller attempts to match the demanded speed. Larger
values provide quicker control.
If Kp is set too high, oscillations may arise as the motor approaches demanded speed.
If Kp is set too low, the top speed might result higher than speed limit (overshoot) and the speed control might
be very slow.
VERY IMPORTANT When “Speed tolerance” is activated in torque mode the PI speed controller adjustment
M1-4.1,2 and M1.4-5,6 are totally disabled for limiting the speed. The speed limitation won’t be fully accurate
and the speed limit value will be “held” with the Speed Limit tolerance value.
M1.4-2 Integral gain speed controller “KiSpd”
In torque mode it determines how quickly the speed steady state error is zeroed. In other words how quickly
speed is stabilized to the active speed limit value. Larger values provide faster speed limiting.
If Ki is set too high, oscillations could arise when the controller starts to limit speed.
If Ki is set too low, it may take a long time before speed is stabilized to the speed limit value.
!VERY IMPORTANT This adjustment has no effect in torque mode if “M1.4-8 Speed limit tolerance “SpLimTol””
s set greater than 0%.
In speed mode it determines how quickly the speed steady state error is zeroed. In other words how quickly
speed is stabilized to the speed demand value. Larger values provide faster speed stabilization.
If Ki is set too high, oscillations could arise when the controller starts to limit speed.
If Ki is set too low, it may take a long time before speed is stabilized to the speed limit value.
M1.4-3 Enable double PI gains for speed controller “SpdPIx2”
This setting enables a dual set of gains for speed controller.
• If set to 0 only one set of speed controller gains is adopted (“M1.4-1 Proportional gain speed
controller” and “M1.4-2 Integral gain speed controller”).
• If set to 1 two sets of speed controller gains are adopted. If the actual speed is below “Double PI speed
threshold” the low speed gains are adopted (“”). If the actual speed is higher than “Double PI speed
threshold” the high speed gains are adopted (“Proportional gain speed controller” and “Integral gain
speed controller”).