Elmo HARmonica, Руководство по настройке

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Set KI = 500 * 75 = 37500. The following performance results:
Settling time is 5.5 msec.
It is recommended to set a low-pass filter of 600 Hz with a damping of 0.55 at the
beginning of each tuning procedure.
3.2.2 Manual Tuning of a PI Controller with a Notch Filter
During the design of a PI controller, the designer can conclude from the test results
if a notch filter is required and in which frequency it should be added. Following is
a characteristic example, using the second (resonant) test system.
Start by designing a PI controller. For KP, we have the test results given in the
following figure. The measured current exhibits oscillations, which is a hint of the
existence of resonance.
0 0.1 0.2 0.3 0.4 0.5
-3
-1.8
-0.6
0.6
1.8
3
x 10
4
Tim e (sec.)
C
o
u
n
ts
/s
e
c
.
S peed
Reference
0 0.1 0.2 0.3 0.4 0.5
-0.8
-0.16
0.48
1.12
1.76
2.4
Am
p
e
re
Tim e (sec.)
Figure 3-1: Example of use of a notch – the current exhibits a periodic noise waveform
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