Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
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Modes of Operation
Chapter 10
Theoretically, a stepping response can be used to explain proportional gain
(KVP), integral gain (KVI), and feed forward gain (KVF). Speed over time
diagrams are shown below to illustrate the basic principle.
Timing Diagrams
Table 79 - Relevant Parameters
Parameter
Name
ID189 (P2.004)
VelocityProportionalGain (KVP)
ID190 (P2.006)
VelocityIntegralGain (KVI)
ID191 (P2.007)
AccelFeedForwardGain (KVF)
Impact of Speed Proportional Gain (KVP) Setting
The higher the KVP value, the larger the bandwidth,
and the speed increase time also shortens. However, if
the value is set too high, the phase margin is too small.
The effect is not as good as KVI for the steady-state
error but is better for the effect on following.
Impact of Speed Integral Gain (KVI) Setting
The higher the KVI value, the larger the low frequency
gain. It shortens the time for the steady-state error to
reduce to zero. However, it does not significantly reduce
the following error.
Impact of Acceleration Feedforward Gain (KVF)
Setting
The closer the KVF value is to 1, the more complete the
forward compensation. The following error becomes
very small. But a KVF value that is set too high also
causes vibration.
Summary of Contents for Kinetix 5100 2198-E1004-ERS
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