Torque Mode - Kohler Curtis F Series Manual

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PARAMETER
Max Speed
Max_Speed_TrqM
0x391D 0X00
Kp
Kp_TrqM
0x391A 0x00
Ki
Ki_TrqM
0x3919 0x00
Kd
Kd_TrqM
0x3918 0x00
Accel Rate
Accel_Rate_TrqM
0x3902 0x00
Accel Release Rate
Accel_Release_Rate_TrqM
0x3904 0x00
Brake Rate
Brake_Rate_TrqM
0x3907 0x00
Brake Release Rate
Brake_Release_Rate_TrqM
0x3908 0x00
Neutral Braking
Neutral_Braking_TrqM
0x391F 0x00
Neutral Taper Speed
Neutral_Taper_Speed_TrqM
0x3922 0x00
4 — PROGRAMMABLE PARAMETERS
Curtis AC F2-A, F4-A, F6-A Motor Controllers – FOS 4.5 – April 2022

TORQUE MODE

TORQUE MODE MENU
ALLOWABLE RANGE DEFAULT
500 – 24000 RPM 7000 rpm
500 – 24000
0 – 100 % 30 %
0 – 8192
0 – 100 % 30 %
0 – 1000
0 – 100 % 10 %
0 – 8192
0.1 – 30.0 sec 1.0 sec
100 – 30000
0.1 – 2.0 sec 0.4 sec
100 – 2000
0.1 – 5.0 sec 1.0 sec
100 – 5000
0.1 – 2.0 sec 0.4 sec
100 – 2000
0 – 100 % 10 %
0 – 32767
20 – 24000 RPM 500 rpm
20 – 24000
DESCRIPTION
Defines the maximum allowed motor rpm for torque control mode
(independent of throttle position).
In torque control mode full throttle requests 100% of the available
torque. Partially-applied throttle is scaled proportionately.
The proportional term (Kp) determines how aggressively the speed
controller attempts to limit the speed of the motor to Max Speed.
Larger values provide tighter control.
If Kp is set too high the system may experience oscillations as the
controller tries to control speed.
Setting Kp too low may result in an overshoot beyond Max Speed.
The integral gain (Ki) forces zero steady state error so the motor
speed 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 over speed.
Provides damping as the vehicle approaches top speed thereby
reducing 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.
Sets the rate (in seconds) at which the motor torque increases to
full when full throttle is applied.
Larger values represent slower response.
Determines how quickly deceleration will be initiated when the
throttle is released while the vehicle is still accelerating.
If the release rate is fast (i.e. set to a low value) the transition is
initiated abruptly.
The transition is smoother if the release rate is set to a higher
value (slower transition); however setting the rate too high can
cause the vehicle to feel uncontrollable when the throttle is
released as it will continue to drive for a short time.
Adjusts the rate (in seconds) at which braking torque builds.
Lower values represent faster times and therefore faster
braking; gentler braking is achieved by setting the braking rate
to a higher value.
Adjusts the rate (in seconds) at which braking torque releases as
the vehicle transitions from braking to drive.
Neutral braking occurs progressively when the throttle is reduced
toward the neutral position or when no direction is selected.
The neutral braking parameter is adjustable from 0 to 100% of
the regen current limit.
Determines the motor speed below which neutral braking current
is adjusted when throttle is reduced.
The neutral braking current is linearly reduced from Neutral
Braking x Regen Current Limit at the Neutral Taper Speed to the
Creep Torque current at zero rpm motor speed.
Note: Setting the taper speed too low may cause oscillations in
the motor.
pg. 59