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B.2.2 Speed controller
The speed controller, shown in Figure 55, is also a PID controller. Gains are set using the Mint
keywords KVPROP, KVINT and KVDERIV. The speed is compared with the measured speed
and the error is fed into the PID control calculation. The result forms the torque demand for
the torque controller. To improve the performance of the derivative term, an optional filter is
included. The time constant of this filter can be set using keyword KVDERIVTCONST.
By default the filter is turned off, with KVDERIVTCONST set to zero.
When the FlexDrive
acceleration is fed forward by gain KACCEL to give a contribution to the final torque demand.
The speed control calculation is performed every 250μs. As with the position controller, the
gain values KVPROP, KVINT, KVDERIV and KACCEL must be tuned for each application.
This can either be performed automatically within the Commissioning Wizard, or manually
using the Fine-tuning tool of Mint WorkBench.
Profiler acceleration
(Position control)
Speed demand
MN1902
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II
is set to positioning mode (CONFIG is _cfSERVO), the profiler
Acceleration feedforward term
KACCEL
Proportional gain term
KVPROP
Integral gain term
Velocity
+
error
dt
-
Derivative gain term
d
dt
Figure 55 - Speed control system
+
+
KVINT
+
Filter
KVDERIV
(KVDERIVTCONST)
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+
Torque demand
+
Measured speed
(VEL)
Control System B-7
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