Gain_Sch Gain Scheduling - gefran ADP200 User Manual

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:
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).
ADP200 Application PID-IMM
Figure 31: Gain Scheduling function
User Manual Pag. 58 of 80