Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS, Functional Description

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ECODRIVE03-FL*-04VRS Parameters
9-55
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
CR03 Velocity Loop Integral Action Time
0015.0
[ms]
The velocity loop forms a current command value from the difference
between the velocity command value and the velocity feedback value
(= speed regulation deviation).
This current command value consists of a proportional component and an
integral component. The Velocity Loop Integral Action Time corresponds
to the time in which the integral component of the current command value
is increasing on the value of the proportional component.
Definition of the Integral Action Time:
I-Gain_AE.WMF
L: Tn : velocity integral action time [ms]
KP : veloc. contr. prop. gain [A*sec/rad]
KI : integral gain [A/rad]
G
speed regulation deviation
Fig. 9-25: Integral Action Time
The integral action time is defined as that value on the time axis at which
the integral component is equal to the proportional component. This
represents the time that a pure I-controller would need until the controller
output variable y is equal to the output variable of a P-controller at time
t=0.
Entering a value of 0 deactivates the integral component. (See also
functional description for: “Setting the velocity loop”)
Input min.: 0 ms
Input max.: 6553.5 ms