Rockwell Automation 20D PowerFlex 700S with Phase I Control Reference Manual - Manual (Page 126)

126 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013
Chapter 1 Detail Drive Configuration and Operation
Droop
Droop is used to “shed” load and is usually used when a soft coupling of two
motors is present in an application. For more information on droop, see the
section titled “Droop”.
Speed Regulator Output Limits
The outputs from the proportional block and integrator block are summed
together, creating a torque reference. This torque reference is limited by
parameter 102 [Spd Reg Pos Lim] and 103 [Spd Reg Neg Lim].
Speed Regulator Output Filter
Now the torque reference goes through a lead/lag filter, tuned by parameter 95
[SregOut FiltGain] and 96 [Sreg Out Filt BW]. For more information on lead/
lag filters refer to Lead-Lag Filter on page
56 .
Parameter 157 [Logic Ctrl State] bit 8 - “Spd Reg En” indicates when the speed
regulator is enabled. When “Spd Reg En” is on, this allows the speed regulator
output to pass to the torque control loop.
Parameter 302 [Spd Reg PI Out] contains the filtered, limited torque reference
that was generated by the speed regulator.
+
102
103
Limit
Spd Reg Pos Lim
Spd Reg Neg Lim
Output from
Proportional Block
Output from
Integrator Block
95
96
157 08
0
302
0
1
SRegOut FiltGain
SReg Out Filt BW
Logic Ctrl State
(Spd Reg En)
Spd Reg PI Out
to Torque Control
[4A1]
Lead Lag
(kn * s)+ wn
s + wn