ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning
Operation & Software Manual
Direct Drives & Systems 73
9.2 Parameters description
The interaction between the regulator's elements will now be looked at. These explanations are more intuitive
than theoretical. They should be used to 'feel' what happens and to help the reader to set up the regulator. The
reader is supposed to have basic knowledge in automatic control. For more information, please refer to one of
the numerous works on the matter available on the market.
This regulator's description is not complete, it has been simplified for a better understanding. However, all the
main parameters listed in this chapter are sufficient to set up the controller for all typical applications.
Remark: The principles described below are generally verified; however the results will strongly depend on
the application and on the system's working conditions.
9.2.1 Current regulator
Note: Refer to §13.1.2.1 for the position regulator's K values.
A classical proportional-integral (PI) regulator is used to control the controller's current output (Refer to
§13.1.2.2
for the current regulator's K values). The PI current regulator's parameters are:
K80: Proportional gain (P).
The main effect of parameter K80 is to make
the current response faster.
K81: Integral gain (I).
The main effect of parameter K81 is to
suppress the current permanent error.
Speed
Ic reference current
I (K80 effect)
Time
Current
Time
Speed
Time
Current
Time
Ic reference current
I real current
K81 effect
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