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Tel: (86)755-26434369
34
Website: www.leadshine.com
It
’
s very easy to see from the velocity curve (Green line) that the system is under
damped. This will cause system oscillating beyond either side of its target, so it must
be damped. Figure 6-22 shows the result after increasing Kd to 800. In the Figure
6-22, the oscillation is much smaller than that of Figure 6-21. You can get even
smaller oscillation when increasing Kd to 1500. See Figure 6-23.
Figure 6-22: Position following error curve and velocity curve (Kp=1200, Ki=0 and Kd=800)
Figure 6-23: Position following error curve and velocity curve (Kp=1200, Ki=0 and Kd=1500)
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Tel: (86)755-26434369
35
Website: www.leadshine.com
Although very smooth velocity curve had been gotten in Figure 6-23, we can see
that the position following error is still too large to accept. And this can be improved
by increasing Ki value. See Figure 6-24. However, we can see the system response
in Figure 6-25 is already Over Damped, namely too much damping has caused the
response to be sluggish. This can be improved by increasing Kp or reducing Kd. See
Figure 6-25 and Figure 6-26. Here we try to improve the performances by increasing
Kp.
Figure 6-24: Position following error curve and velocity curve (Kp=1200, Ki=50 and Kd=1500)
Figure 6-25: Position following error curve and velocity curve (Kp=1500, Ki=50 and Kd=1500)
