DIGIVEX Little Drive Servoamplifier
69
PVD 3530 GB 01/2005
Then reduce the filtering frequency until the oscillation disappears almost completely. If that
cannot be done, the maximum gain is reached.
If possible, gain can be increased again until a response is obtained without oscillation.
Oscillation may reappear. Reduce the filtering frequency a little more.
Notice that it is essentially P and filtering frequency that determine the bandwidth.
If the resonance frequency is too low, adjust the filter frequency to a high value.
PI/PI2 - integral stop frequency setting
Initial status
P gain alone. P and filtering frequency setting completed.
Integration stop frequency = 0.
Still no integration.
System ready to run.
♦
Select PI or PI².
♦
Use the same stimulus as before (index analysis).
♦
"On line", increase the integration stop frequency until overshoot is obtained in
the order of:
+
25 - 30% in PI
+
15 - 20% in PI²
Without oscillation.
If the frequency is too high, fairly low frequency oscillations occur (< 50 Hz). Frequency must
then be reduced (never readjust P gain).
Dipl43gb.D/45W
Speed
measurement
fi too high
pseudo-period
Time
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