1.5.3.2 Manual Tuning of the velocity control
loop
If the drive is intended to be operated in velocity control mode, the proportional and integral gains of
the velocity control loop have to be tuned manually.
To do so, it is recommended to use OBLAC Drives to generate a velocity reference similar to a typical
velocity reference of the intended application. This can either be a constant velocity or a dynamic
signal (sinewave, trapezoidal etc.). While this reference trajectory is continuously being sent to the
drive, you can increase the controller gains to optimize the tracking behaviour. Proportional and
Integral gains should both be iteratively increased. There are various procedures on how to carry out
this iterative process. As a general rule of thumb on which parameter to change next, the following is
helpful:
If the behaviour of the system at low frequencies shall be improved, the Integral gain has to be
changed. This applies if either it takes one or several seconds too long to reach a desired speed or if
the speed oscilates between ‘too fast’ and ‘too slow’ slowly (once per second or even slower)
If the behaviour of the system at high frequencies shall be improved, the Proportional gain has to
be changed. This applies if either acceleration and deceleration durations shall be reduced even
further (to less than about 1 second) one if the speed shows indesired fast oscilations which often
become perceptabile acoustically
Commissioning and Tuning with SOMANET OBLAC Drives
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