ADP200 Application PID-IMM User Manual Pag. 52 of 80
5.5 GAIN menu - Pressure and Speed Control Loop
PID IMM is composed basically of cascade control loop of one PID for pressure control and another PI for
speed control.
When the pressure control loop is enabled, the pressure loop set the proper speed set-point of the motor to
reach and maintain the pressure feedback equal to the pressure reference. In this case is never possible to
handle speed reference by operator.
If pressure control is disabled speed reference is applied directly as speed set-point.
PressureReference
PressureFeedback
Pressure Control
Kp Pressure Control
Ki Pressure Control
Kd Pressure Control
Derivative Filter
SpeedReference
SpeedFeedback
Kp Speed Control
Ki Speed Control
Speed (Flow) Control
MotorSpeedReference
SAT
PID
PRESSURE
PI
FLOW
Figure 25: ADP200 Pressure & Flow (Speed) Control Loop
Relevant parameters for the two regulation loops can be found on GAIN menu:
Pressure PID Loop Parameters
Kp Pressure Control is the proportional action gain for pressure control (bar -> rad/s).
- Higher the kp value faster is the response of the system.
- If the pressure response oscillates try to reduce the kp value.
Ki Pressure Control is the integral action gain for the pressure control (bar -> rad/s
2
)
- Higher the ki value less is the time to reach the steady value.
- If the pressure response oscillates try to reduce the ki value
Kd for Press Contr is the derivative action gain for the pressure control (bar -> rad)
- Kd has to be used rarely, it can increase the response performance, but it needs to be well tuned
in order to avoid instability oscillation.
Derivative filter is the bandwidth of the filter applied to derivative action (Hz)
Antiwindup gain is the gain used to improve the readiness of integral action. If the system has noise during
pressure control try to reduce the antiwindup below 1.0 (def. value) (small changements ex. 0.9)
Speed PI Loop Parameters
Kp Speed Control is the proportion action for speed control ( rad/s -> Nm)
Ki Speed Control is the integral action for speed control (rad/s -> Nm/s).
5.5.1 Conversion from application speed gains and drive speed reg gains
The application every time that parameter on IPA 11094 and 11096 are changed will modify the parameter
on IPA 2236 and 2238 according to the following formula (left side - red).
The operation is done automatically.
It is possible, but not suggested, to tune the speed loop by using the parameter on IPA 2236 and 2238,
but the parameter 11094 and 11096 must be calculated following the below formula (right side blue or
formula down) and put manually on parameters 11094 and 11096.
]
]
rad/s]]
rad)]
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