MCSDK Reference Speed And Average Speed Following Delay

[Fatih Okutan]

Hello,

We are using MCSDK 5.Y.2 version.

We are getting average and reference speed with below functions.

average_speed = MC_GetMecSpeedAverageMotor1()*_RPM / SPEED_UNIT;

reference_speed = MC_GetMecSpeedReferenceMotor1()*_RPM / SPEED_UNIT;

We have a problem regarding that average speed following reference speed.

As we see, although we decrease the reference speed instantly, average speed decreases with a delay, didn't follow the reference speed. What may be the problem ?

By the way, firstly we increased reference speed over max speed of the motor as you can see from the picture.

[Laurent Ca...]

Dear @Fatih Okutan​ 

Sorry for the late answer.

Do you have still this problem to solve?

And just in case, if not, do not hesitate to share the final solution you found. Thanks by advance.

Best regards

[Fatih Okutan]

Dear @Laurent Ca...​ ,

Thanks for your reply.

We couldn't yet find a solution.

Kind Regards.

[DZann.1]

The problem is inside the PID of the speed, the integral part. There isn't the anti-windup in case the PID of current can't set the output of the PID of speed. A possible case is low bus voltage.