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Tel: (86)755-26434369
36
Website: www.leadshine.com
Figure 6-26: Position following error curve and velocity curve (Kp=3000, Ki=50 and Kd=1500)
Increase Kd can reduce velocity overshoot, and get a better velocity curve in as
shown in Figure 6-27.
Figure 6-27: Position following error curve and velocity curve (Kp=3000, Ki=50 and Kd=2000)
Since position following error is still large during constant speed period in Figure
6-27, we try to increase Ki to improve system
’
s performances. Figure 6-28, Figure
6-29, and Figure 6-30 show the result after increasing Ki. From Figure 6-30, we can
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Tel: (86)755-26434369
37
Website: www.leadshine.com
see that too much Ki will cause position curve over shoot.
Figure 6-28: Position following error curve and velocity curve (Kp=3000, Ki=100 and Kd=2000)
Figure 6-29: Position following error curve and velocity curve (Kp=3000, Ki=150 and Kd=2000)
