ADP200 Application PID-IMM User Manual Pag. 58 of 80
5.8 GAIN_SCH Gain Scheduling
Gain scheduling is related to possibility to adapt pressure control loop gains to different operating
conditions as a function of motor speed feedback.
See picture below for reference diagram:
Figure 31: Gain Scheduling function
Each pressure control PID parameter (e.g. Kp) is multiplied by scheduled gain values according to the
current speed feedback, resulting in:
Kxx = NOMINAL_Kxx * GAIN_SCHEDULING_MULTIPLICATOR
“NOMINAL_Kxx” is the nominal gain set for pressure control loop (see Ipa 11094 - 11098).
The “GAIN SCHEDULING MULTIPLICATOR” parameters can be changed in the GAIN_SCH menu
The following linearization strategy is applied:
• Below lower speed threshold (Ipa 11174): GAIN = 1.0
• Between lower speed threshold and medium speed threshold (Ipa 11176): GAIN is linearized from 1.0
to “Medium Gain” (Gain Sch Sp Kxx (M)).
• Between medium speed threshold and high speed threshold (Ipa 11178): GAIN is linearized from
“Medium Gain” (Gain Sch Sp Kxx (M)) to “High Gain” (Gain Sch Sp Kxx (H)).
• Over high speed threshold (Ipa 11178): GAIN is equal to “High Gain” (Gain Sch Sp Kxx (H)).
Note that speed loop scheduling is available in the standard firmware Menu SPEED REG GAINS (expert
mode).
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