Velocity Regulator - Allen-Bradley Ultra1500 2092-DA1 User Manual

Sample d
Ve locity
Comman d +
-
1
Velo city
Cmd
L imit
Block/Switch Definitions:
1 Main Drive Window : Velocity Limits : Velocity Limit Mode & Manual Velocity Limit
2 Tuning Window : Main Velocity Regulator Gains : P.
3 Tuning Window : Main Velocity Regulator Gains : Integrator Mode.
4 Tuning Window : Main Velocity Regulator Gains : Integral Time. Ki is the inverse of the Integral Time
5 Main Drive Window : Initial Current Bias
6 The integral term is set to the initial current bias when the drive is disabled.
7 A 30 Hz low pass filter is applied to the derivative of the error. The user cannot change this parameter setting
8 Tuning Window : Main Velocity Regulator Gains : D.
9 Main Drive Window : Current Limits; Main Drive Window : Stopping Functions : Maximum Stopping Current
10 Tuning Window : Main Current Regulator Gains : Low Pass Filter Bandwidth
11 Tuning Window : Main Current Regulator Gains : Resonant Frequency Suppression
Block/Switch definitions shown in Figure 5.21 refer to the Ultraware parameter names where applicable.

Velocity Regulator

Figure 5.21 shows the block diagram of the velocity regulator in the Ultra1500:
Figure 5.21
Velocity Regulator Block Diagram
2
K
p
4
K
3
+ i
- 0.0
I
Integral
5
bias
Term
1/K
p
+
+
+
-
Integrator
An ti-windu p
-1
z
+
+
Derivative
Term
The Ultra1500 uses a fixed frequency (5 kHz) to sample data and perform
computations (i.e., the sample or update rate is 200 µs). A z
figure indicates a delay of one update period, or 200 µs. This implies that any
signal multiplied by a z
the calculation for the current update.
+
+
+
+
6
+
-1
z
-1
z
-1
z
-1
z
K
d
7 8
-1
block will use the signal from the previous update in
Ultra1500 Application Examples
9 10
+
Curre nt Curren t
Cmd
Cmd
Low Pa ss
Limit
Filter
-1
block in the
Publication 2092-UM001D-EN-P — July 2005
5-41
Cu rrent
Command
11
Curren t
Cmd
Notch Filter
S ampled
Velocity
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