ADP200 Application PID-IMM User Manual Pag. 39 of 80
4.3.4 Speed Loop Tuning:
Application Speed (Flow) loop Gains are in the PID-IMM/GAIN [11094] Kp Speed Control and [11096] Ki
Speed Control.
Note! When Pressure / Flow controller application is operating, it affects SPEED REG GAINS system
menu parameters Ipa 2236 Speed reg P gain and Ipa 2238 Speed reg I time, as well as
REFERENCES system menu parameters Ipa 654 Speed ref invert src.
4.3.5 Flow and pressure Control Tuning
The parameters for the two regulation loops can be found on GAIN menu:
Figure 25: PID_IMM Gain
- Pressure PID Loop
• Ipa 11086 Kp Pressure Control is the proportional action gain for pressure control (bar -> rad/s)
• Ipa 11088 Ki Pressure Control is the integral action gain for the pressure control (bar -> rad/s
2)
• Ipa 11090 Kd for Press Contr is the derivative action gain for the pressure control (bar -> rad)
• Ipa 11092 Derivative filter is the bandwidth of the filter applied to derivative action (Hz)
- Speed PI Loop
• Ipa 11094 Kp Speed Control is the proportion action for speed control ( rad/s -> Nm)
• Ipa 11196 Ki Speed Control is the integral action for speed control (rad/s -> Nm/s)
For Speed (flow) loop and pressure loop there are two mode for tuning, manual tuning and automatic
tuning.
In the chapter “TUNING menu” there are all information related to speed/ pressure Automatic Tuning
sequence.
For additional information related how to tune these gains (Manual tuning) see chapter “Gain menu” on the
“Application Function List of Parameters” of this manual.
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