ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 292)

8.2. Speed Control
8.2.1 Block Diagram
This is the most basic closed loop control form. The basic control block of the speed
controller is the PI. The high-order filter (composed of a series of blocks of the types
explained previously) and the gain scheduler. A block diagram of the speed controller
is given in the following figure.
The units for the speed loop gains are:
KP : mAmp/(count/sec)
KI : mAmp/count
The gain scheduler can be used or the gains of the controller can be fixed using
GS[2]=0..15. Use of the high-order filter is optional; to bypass the high-order filter, set
KV[0]=0.
Speed
command
DV[2]
Σ
KP KI I dt
+ ∫
GS[2] and speed select KP
and KI to use
High order
filter
[1]
d
FF
dt
Feed forward
Σ
Current
command
DV[1]
Speed estimator
Position & time sensor data
-
+
SPEED
e
SpeedFeedback
SPEED
e
ER[2]
≥
Exception 0x80
HL[2]
≥
Exception 0x20000
SpeedFeedback
LL[2]
≥
Exception 0x20000
Figure 8-18: Speed Controller Block Diagram
SimplIQ for Steppers Application Note The Position and Speed Controller
MAN-STECR (Ver. 1.1)
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