TUG MZ Operation Maintenance & Parts Manual page 334

3 — PROGRAMMABLE PARAMETERS:
PARAMETER
Max Speed 500–8000 rpm
Max_Speed_TrqM
Kp
Kp_TrqM
Ki
Ki_TrqM
Kd
Kd_TrqM
34
1 1 J U LY 2 0 0 8 D R A F T
Speed Limiter Parameters
2 – TORQUE MODE
ALLOWABLE
RANGE
Defines the maximum allowed motor rpm for torque control mode
500–8000 (independent of throttle position). In torque control mode, full throttle
requests 100% of the available torque. Partially-applied throttle is scaled
proportionately; e.g., 40% applied throttle corresponds to a request for
40% of the available torque.
Note: The maximum motor rpm is subject to the constraints on page 27.
0–100 % Determines how aggressively the speed controller attempts to limit the
0–8192 speed of the motor to Max Speed. Larger values provide tighter control.
If Kp is set too high, you may experience oscillations as the controller
tries to control speed. Setting Kp too low may result in a top speed much
higher than Max Speed.
5–100 % The integral term (Ki) forces zero steady state error, so the motor speed
50–1000 will be limited to Max Speed. Larger values provide faster control.
If the gain is set too high, you may experience oscillations as the
controller tries to limit speed. If it is set too low, it may take a long time for
the motor to approach Max Speed from overspeed.
0–100 % Provides damping as the vehicle approaches top speed, thereby reducing
0–8192 overshoot. If Kd is set too high, the vehicle may take too long to reach
top speed. If Kd is set too low, the vehicle may overshoot top speed,
especially when traveling downhill.
(TORQUE MODE)
SPEED LIMITER MENU
DESCRIPTION
Curtis 1234/36/38 Manual,
Rev. D