4 Servo Loop Parameters
Introduction
This chapter describes setting parameters associated with the
velocity and position loops. In some cases the user must adjust
control loop parameters due to large mismatches between motor
and load inertia, mechanical resonance, backlash, etc. This
chapter provides guidance for handling these situations.
Refer to Appendix A for a description of the control loop
architecture and control loop block diagrams.
Note:
The two anti-resonant zeroes (
ARZ0
and
ARZ1
) are
assumed to both be off (set to zero) for this discussion.
4.1 Velocity Loop
The velocity loop block diagram is shown in Figure 2 of
Appendix A. Velocity loop bandwidth is the key indicator of
system performance. Systems with fast settling time must have
high velocity loop bandwidth. Conversely, if the velocity loop
bandwidth is low, attempting to achieve fast settling time by
increasing the position loop bandwidth,
KPP
, leads to overshoot
and ringing.
MA950
4 - 1
