Emerson unidrive m200 - Page 41

Unidrive M200/201 Control Quick Start Guide 41
Issue Number: 2
Defines the proportional gain for frequency controller 1.
RFC modes only.
The controller includes a feed forward proportional gain (Kp), a feed forward integral gain (Ki), and a
differential feedback gain (Kd).
Proportional gain (Kp)
If Kp is non-zero and Ki is zero the controller will only have a proportional term, and there must be a
frequency error to produce a torque reference. Therefore as the motor load increases there will be a
difference between the reference and actual frequencies.
Integral gain (Ki)
The integral gain is provided to prevent frequency regulation. The error is accumulated over a period
of time and used to produce the necessary torque reference without any frequency error. Increasing
the integral gain reduces the time taken for the frequency to reach the correct level and increases the
stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque
to the motor.
Differential gain (Kd)
The differential gain is provided in the feedback of the frequency controller to give additional
damping.
Defines the integral gain for frequency controller 1. See Frequency Controller Proportional Gain Kp1
(00.065).
Defines the time constant for the filter applied to the output of the frequency estimator system.
00.065 {03.010} Frequency Controller Proportional Gain Kp1
RW Num US
OL
Ú Ö
RFC-A 0.000 to 200.000 s/rad 0.100 s/rad
00.066 {03.011} Frequency Controller Integral Gain Ki1
RW Num US
OL
Ú Ö
RFC-A
0.00 to 655.35 s
2
/rad 0.10 s
2
/rad
00.067 {03.079} Sensorless Mode Filter
RW Txt US
OL
Ú Ö
RFC-A
4 (0), 5 (1), 6 (2), 8 (3), 12 (4),
20 (5) ms
4 (0) ms
Unidrive M200_201 Control Quick Start Guide English Iss1.book Page 41 Wednesday, September 16, 2015 10:31 AM