Delta Electronics none manual Kvp, Kvi, Kvf

Chapter 6 Control Modes of OperationASDA-AB Series

„Proportional gain: Adjust this gain can increase the position loop responsiveness.

„Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed loop and eliminate the steady error. Also, reduce the value of phase margin. Over high integral gain will result in the unstable servo system.

„Feed forward gain: Adjust this gain can decrease the phase delay error

Relevant parameters:

P2 - 04

KVP

Proportional Speed Loop Gain

Communication Addr.: 0204H

Default: 500	Related Section:
Applicable Control Mode: P/S	Section 6.3.6
Unit: rad/s
Range: 0 ~ 20000

Settings:

This parameter is used to set the speed loop gain. When the value of proportional speed loop gain is increased, it can expedite speed loop response. However, if the setting value is over high, it may generate vibration or noise.

P2 - 06

KVI	Speed Integral Compensation	Communication Addr.: 0206H
Default: 100		Related Section:
Applicable Control Mode: P/S		Section 6.3.6
Unit: N/A
Range: 0 ~ 4095
Settings:

This parameter is used to set the integral time of speed loop. When the value of speed integral compensation is increased, it can improve the speed response ability and decrease the speed control deviation. However, if the setting value is over high, it may generate vibration or noise.

P2 - 07

KVF	Speed Feed Forward Gain	Communication Addr.: 0207H
Default: 0		Related Section:
Applicable Control Mode: S		Section 6.3.6
Unit: 0.0001

Range: 0 ~ 20000

Settings:

This parameter is used to set the feed forward gain when executing speed control command. When using speed smooth command, increase gain can improve speed track deviation.

When not using speed smooth command, decrease gain can improve the resonance condition of mechanical system.

Revision March 2008, Doc. Name: 2007PDD23000011 6-21