CHAPTER 5.0 Functional Overview
5-44
CDS7324 (FORMERLY LSF-0819)
Rev. A
INSTALLATION & USER’S MANUAL
For close inspection of torque, the observer predicted
current_q-axis_observer
, or the actual q-axis feedback,
current_actual
,
can be monitored using the GUI’s oscilloscope, as can any of the parameters listed below.
qcomp.pgain
qcomp.igain
1
s
iq
iqd
+
-
vdc
-vdc
vcq
+
+
dcomp.pgain
dcomp.igain
1
s
id
idd
(generally = 0)
+
-
vdc
-vdc
vcd
+
+
Figure 5.11 : d,q current compensator
Gain calibration parameters can be used to back off the current loop gain at high currents to enable the use of
motors with high saturation. The
current_loop_foldback_breakpoint
sets the current at which the current loop gain
starts to reduce and
current_loop_foldback_minimum
sets the fraction of the gain to be used at maximum current.
The gains are decreased linearly between the
current_loop_foldback_breakpoint
and the maximum current.
The current loop d and q axis
compensators
gains, and the observer
α
and
β
compensators
tuning gains are
summarised in the table below.
Field No.
Name
Type
Units
Comment
1272
current_loop_d-axis_i-gain
f32 Volts/Amp/Tsamp
dcomp.igain
1274
current_loop_d-axis_p-gain
f32 Volts/Amp
dcomp.pgain
1277
current_loop_q-axis_i-gain
f32 Volts/Amp/Tsamp
qcomp.igain
1279
current_loop_q-axis_p-gain
f32 Volts/Amp
qcomp.pgain
1288
current_loop_alpha_observer_i-gain
f32 Volts/Amp/Tsamp
oacomp.igain
1290
current_loop_alpha_observer_p-gain
f32 Volts/Amp
oacomp.pgai
n
1293
current_loop_beta_observer_i-gain
f32 Volts/Amp/Tsamp
obcomp.igain
1295
current_loop_beta_observer_p-gain
f32 Volts/Amp
obcomp.pgai
n
1284
current_loop_foldback_minimum
f32 none
calkmin
1285
current_loop_foldback_breakpoint
f32 Amp
calimin
Table 5.31 List of Current Loop Compensator Gains
