Elmo HARmonica, Tuning Manual

Page: 37 / 40

In practice, KP
position
<=V/5, the velocity KP should be reduced by the same factor as
position KP, and the velocity KI should be reduced by a square of that factor.
In our case, KP should not be reduced until 280*5 = 1400 cnt/sec.
1. Copy the parameters of the last row to the entire table by selecting Interpolate
All on that row, using the right-button pop-up menu.
2. Check the accept button of 1388 cnt/sec row in the table.
3. Set several speed parameters according to the rule described before and check
each relevant Accept check box. Set the following rows:
694 cnt/sec
Position KP = 700/5 = 140
280/140 = 2
Velocity KP = 75/2 = 37
Velocity KI = 18750/(2
2
) = 4687
457 cnt/sec
Position KP = 700/5 = 92
280/92 = 3
Velocity KP = 75/3 = 25
Velocity KI = 18750/(3
2
) = 2083
280 cnt/sec
Position KP = 280/5 = 56
280/56 = 5
Velocity KP = 75/5 = 15
Velocity KI = 18750/(5
2
) = 750
4. After setting the parameters and checking Accept on those rows, accept the
parameters by selecting Interpolate All .
5. Check Gain Scheduling ON .
20,000 cnt/sec (150 RPM)
33