VALMET A413280 CPR1 Pulse processing module

Proportional—The proportional actuator controller uses a “command trim” scheme to reduce steady-state position errors in proportional actuators. P—The P Controller provides the best stability. This control is the simplest controller, is very robust and works well for systems that aren’t very sensitive to position errors. Steady-state errors will exist if the Actuator Null Current value does not equal the actual null current of the actuator. PI—The PI Controller will adapt best to small changes in the system. The PI controller is used in a majority of the applications (90 %+). Position feedback is forced to match position demand during steady-state operation.

Servo Controller Configuration 

The controller type is selected according to the type of actuator and the type of servo controller desired. In general, the actuator’s response to the input current will either be proportional or integrating. In a proportional actuator, position is proportional to the input current. In an integrating actuator, position rate-ofchange is proportional to the input current. At a certain input current, called the null current, the integrating actuator position does not change. Selecting a Controller The controller type is selected on the Servo Controller page of the Configuration File Editor.  Proportional actuators must use the Proportional controller.  Integrating actuators use the P, PI, PI w/Lag, or PI w/Lead-Lag controllers.

PI w/Lag

The PI w/Lag controller is a PI controller with a lag block conditioning the demand signal. The lag term may he used to cancel, or partially cancel, a zero in the closed-loop transfer function. Tuning of this control is exactly the same as the PI control. Use this control if you have a critical process which cannot tolerate overshoots. This control will limit actuator response, although the lag can be set to a low value to avoid excessive delay.

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