177
SV200 DC Hardware Manual
920-0126A
4/14/2017
11.3.3 Integrator Gain (KI)
The position loop gain (KF) alone will often not be enough to give the best performance in terms of minimizing the position error and
may require a long time settling time. In these cases, the Integral gain (KI) will keep adding up that error and continue to increase the
torque until the motor truly returns to the target position.
As the next chart shows, when KI is small, the system will require excessive time for position errors to settle out and during
acceleration, deceleration, and when the motor stops.
As the next charts show, increasing KI can improve system response time and reduce position error and settling time during motor
acceleration, deceleration, and when the motor comes to rest.
KI=200
KI=500
As seen below, if KI is too large, the whole servo system will vibrate and make noise. This, in turn, will increase the position error and
may greatly extend settling time due to system oscillations around the target position.
