ST_ControllerPi - General Information
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Type: |
Data structure |
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Available as of: |
V1.0.0.0 |
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Inherits from: |
- |
This structure contains the parameters and feedback data for the control movement of the FB_Unwinder based on a PI controller.
The controller calculates a position of the bobbin axis every sercos cycle, according to the feedback of the dancer sensor, based on a PI controller. The sensor input can be filtered by calculating the middle value over the last master period. This way it is possible to filter out the movements of the dancer that are based on the period of the master (for example, if the feeder performs indexed movements).
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Variable |
Data type |
Description |
|---|---|---|
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i_lrPGain |
LREAL |
The KP factor for the PI controller. |
|
i_timIGain |
TIME |
The TI factor for the PI controller. |
|
i_lrMaxOffsetVelocity |
LREAL |
The maximum velocity to which the specified velocity output of the PI controller is limited. It indicates the velocity, at which the foil is unwound from the bobbin. This velocity is added to the precontrol velocity. |
|
i_lfFilterFactor |
LREAL |
Factor from 0 to 1 on how big the share for the control value is between the unfiltered feedback signal and the filtered feedback signal. 0 is only a rare feedback signal and 1 is only a filtered feedback signal. The value is limited between 0 and 1 internally. |
|
i_lrMasterPeriod |
LREAL |
Master distance to filter the feedback signal. The value is limited to greater 0 internally. |
