Other Parts Discussed in Thread: C2000WARE
Hi Team:
I am tuning the LEVEL 4 for startup(fast lib ,sensorless control ,universal motor control lab) , I found the actual speed have very big overshoot ,almost double the ref speed . about 10s later the motorVars_M1.speed_Hz can follow the motorVars_M1.speedRef_Hz as below picture
initial startup stagement 10s later
Do you have any tuning guide for the PID tuninng regarding the following parameters
/ Current and Speed PI Regulators Tuning Coefficient
// the low speed threshold for adjusting the Kp and Ki of the speed PI regulator
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f) // 10%~50% of the rated speed
// the high speed threshold for adjusting the Kp and Ki of the speed PI regulator
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f) // 50%~100% of the rated speed
// the gain coefficient to adjust the Kp of the speed PI regulator for startup
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
// the gain coefficient to adjust the Ki of the speed PI regulator for startup
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
// the low gain coefficient to adjust the Kp of the speed PI regulator
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
// the low gain coefficient to adjust the Ki of the speed PI regulator
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
// the high gain coefficient to adjust the Kp of the speed PI regulator
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
// the high gain coefficient to adjust the Ki of the speed PI regulator
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
// the low current threshold to adjust the Kp and Ki of the q-axis current PI regulator
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f) // 10%~50% of the rated current
// the high current threshold to adjust the Kp and Ki of the q-axis current PI regulator
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f) // 50%~100% of the rated current
// the gain coefficient to adjust the Kp of the q-axis current PI regulator for startup
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
// the gain coefficient to adjust the Ki of the q-axis current PI regulator for startup
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
// the low gain coefficient to adjust the Kp of the q-axis current PI regulator
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
// the low gain coefficient to adjust the Ki of the q-axis current PI regulator
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
// the high gain coefficient to adjust the Kp of the d-axis current PI regulator
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
// the high gain coefficient to adjust the Ki of the d-axis current PI regulator
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
// the gain coefficient to adjust the Kp of the q-axis current PI regulator
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
// the gain coefficient to adjust the Ki of the q-axis current PI regulator
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
