Chapter 7 Appendix • 332 ARTDrive V2 series - Instruction Manual
from 0 to the maximum value.
Set :
PI lim top and PI lim bot in order to obtain a maximum correction of the PI
Block equal to 20% of the line speed.
The PI lim top and PI lim bot parameters can be considered, respectively,
as the maximum and minimum multiplicative factor of the feed-forward.
2550rpm of the motor (max. feed-forward) correspond to the max. line
speed.
Maximum correction = 2550 x 20% = 510rpm
2550 + 510 = 3060rpm ——> PI lim top = 3060 / 2550 = 1.2
2550 - 510 = 2040rpm ——> PI lim bot = 2040 / 2550 = 0.80
With such a configuration and with a proportional correction of the line
speed, the PI block is not in a position to carry out the initial phase when the
machine is stopped; it is therefore necessary to act also on the PD Block.
The gains of the different components have to be set, experimentally, with a
loaded machine; such tests can be started with the values stated below
(default values):
Set PI P1 gain % = 2%
Set PI I1 gain % = 2%
Set PD P1 gain % = 1%
Use the derivative component as a system “damping” element, by setting for
example:
PD D1 gain % = 1%
PD der filter = 20ms
If it is not required, leave these parameters = 0.
In case a series of cascade references has to be performed for another
possible Drive, set PID out mon on an analog output, for example:
An out 1 src = PID out mon
NOTE! See the “A.1.7, Generic PID” paragraph in case it is necessary to
have a system with an integral regulation enabled also with feed-
forward = 0 and in a position to carry out the system initial phase
without errors even with a stopped machine.
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