Aerotech UNIDEX 600 Series, Руководство пользователя

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U600 User’s Guide AerTune
Version 1.4
Aerotech, Inc.
5-31
Table 5-2. Servo Loop Axis Parameters for Tachometer based systems
Parameter Name Value Comments
Position Gain PGain Adjust per
application Should be maximized for servo stability and
acceptable position error (following error) levels.
Integral Gain Ki Always 0 Unused.
Proportional Gain Kp Always 0 Unused.
Velocity Feedforward Vff Optional Minimizes following error (position error) of the servo
system.
Acceleration Feedforward AffGain Always 0 Unused.
Acceleration Feedforward
Gain Filter Alpha Always 0 Unused.
Constant Velocity Gain VGain Adjust per
application Should be maximized for acceptable position error
(following error) levels during constant velocity.
Offset to Null Digital to
Analog converter offset DACOffset Adjust per
application Should be set non-zero to null any offset in the
velocity output command that will introduce a velocity
offset into the system.
5.7.4. The Servo Loop Parameters for Tachometer-Based Systems
The servo loop parameters have slightly different meanings with tachometer feedback.
The following sections describe the parameter definitions.
5.7.4.1. PGain - Position Gain
The Position Gain is the only gain in the Position Loop in the UNIDEX 600’s Servo
Loop. This gain reduces the amount of position error and decreases the settling time. It is
the first servo loop parameter to adjust.
5.7.4.2. Vff - Velocity Feedforward Gain
The Velocity Feedforward Gain is the only gain in the Velocity Feedforward Loop in the
UNIDEX 600’s Servo Loop. This gain reduces the amount of position error for systems
with a tachometer. It is set to one after preliminary tuning is done.
5.7.4.3. Kp - Proportional Gain
Kp is the proportional gain used in systems with tachometers. It must be set to zero (0).
5.7.4.4. Ki - Integral Gain
Ki is the integral gain used in systems with tachometers. It must be set to zero (0).
5.7.4.5. AffGain - Acceleration Feedforward Gain
The Acceleration Feedforward Gain is the only gain in the Acceleration Feedforward Loop
in the UNIDEX 600’s Servo Loop. For systems with tachometers, it must be set to zero
(0).
5.7.4.6. VGain - Constant Velocity Gain
The VGain servo loop parameter is used to reduce the amount of position error during
constant velocity mode.