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80 Mentor MP User Guide
www.controltechniques.com Issue: 3
8.5.5 Speed loop gains for very high inertia
Pr 3.17 = 2 - Kp gain times 16
If this parameter is set to 2 the Kp gain (from whichever source), is
multiplied by 16. This is intended to boost the range of Kp for
applications with very high inertia. It should be noted that if high values
of Kp are used it is likely that the speed controller output will need to be
filtered, see (Pr 3.42). If the feedback is not filtered it is possible that the
output of the speed controller will be a square wave that changes
between the current limits causing the integral term saturation system to
malfunction.
8.6 Current limit tapers
With some motors the commutation limit of the motor requires that the
maximum armature current be reduced at higher speeds, the current
limit tapers can be used to provide this speed dependent current limit.
For more information refer to section 11.22.4 Current limit tapers on
page 142.
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