Patent ID: 8159174

Claim:
A method for adapting controller parameters of a drive to different operating states, a control loop of the drive including a PID controller having an I gain factor adapted to a drive velocity and a D gain factor adapted to a drive current and consequently to a drive load, comprising: (a) determining the I gain factor based on the drive velocity, the I gain factor falling with the drive velocity; and (b) determining the D gain factor based on the drive current, the D gain factor rising with the drive current; wherein the determining (b) includes: determining the D gain factor as a first D gain factor below a first limiting drive current; determining the D gain factor as a second D gain factor above a second limiting drive current, the second D gain factor greater than the first D gain factor; and determining a continuous transition between the first D gain factor and the second D gain factor between the first limiting drive current and the second limiting drive current.