Santerno Sinus Penta - Page 141

PROGRAMMING GUIDE
SINUS PENTA
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P155 (P162, P169) Current Regulator Proportional Constant
P155 (Motor n.1)
P162 (Motor n.2)
P169 (Motor n.3)
Range
0 ÷ 65000 0.00 ÷ 650.00
Default
300
3.00
Level
ENGINEERING
Address
755
762
769
Control
FOC
Function
Kp Proportional coefficient of PI current regulator Id and Iq in field rotary
reference for motor n.1
(P162 and P169 relate to motors 2 and 3).
The regulator’s structure is as follows:
error = Set_Point – Measure;
integral_status = integral_status + error *Ki*Ts;
Output = Kp*error + integral_status;
where Kp is the proportional coefficient
Ki is the integral coefficient = 1/Ti , where Ti is the integral time
Ts
is the regulator operating time (ranging from 200 to 400 microseconds
based on carrier frequency).
NOTE
This parameter is automatically computed and saved when the Autotune procedure is
performed (see the AUTOTUNE MENU).
P156 (P163, P170) Current Regulator Integral Time
P156 (Motor n.1)
P163 (Motor n.2)
P170 (Motor n.3)
Range
1 ÷ 32000 1.0 ÷ 32000. (Disabled)
Default
200
20.0 ms
Level
ENGINEERING
Address
756
763 (motor n.2)
770 (motor n.3)
Control
FOC
Function
Ti Integral time of PI current regulator Id and Iq in the field rotary reference for
motor n.1
(P166 and P170 relate to motors 2 and 3).
The regulator’s structure is as follows:
error = Set_Point – Measure;
integral_status = integral_status + error *Ki*Ts;
Output = Kp*error + integral_status;
where Kp is the proportional coefficient
Ki is the integral coefficient = 1/Ti , where Ti is the integral time
Ts is the regulator operating time (ranging from 2
00 to 400 microseconds
based on carrier frequency).
NOTE
This parameter is automatically computed and saved when the Autotune procedure is
performed (see the AUTOTUNE MENU).