Nidec Unidrive M600 Series - Page 260

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260 Unidrive M Regen Design Guide
Issue Number: 4
Two general purpose PID controllers are provided as shown in the diagram below. Both operate in the same way except that PID controller 2 does not
include alternative feedback and error selection. In the following sections a description is given for PID controller 1. The descriptions also apply to PID
controller 2 except where stated. The sample rate for the PID controllers is always 4 ms.
Figure 9-20 PID controllers
ERR1
FBK2
FBK1
REF2
REF1
PID1 Reference
PID1 Feedback
-
+
PID1 Mode Selector
(14.059)
PID1 Feedback Output
scaling (14.058)
14.022
PID1
Error
PID1 Mode
Selector
(14.059)
PID1
Controller
14.001
PID1
Output
+
+
PID1 Feed-
forwards Reference
14.019
PID1 Feed-
forwards Reference
14.020
PID1
Reference
14.021
PID1
Feedback
PID1
Destination
(14.016)
PID2 Reference
PID2 Feedback
-
+ 14.052
PID2
Error
PID2
Controller
14.031
PID2
Output
+
+
PID2 Feed-
forwards Reference
14.049
PID2 Feed-
forwards Reference
14.050
PID2
Reference
14.051
PID2
Feedback
PID2
Destination
(14.046)
PID1 Enable
(14.008)
PID2 Enable
(14.038)
ERR2
ERR2