CS-Lab SimDrive M4-H040K, Руководство пользователя

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5.6 PID controller tuning
For beginners it's the hardest stage of the
configuration but following the manual even they can
tune the PID controller properly and pretty fast.
Before we enter power output stage (HV) and we
switch a servo drive on („Servo ON”) we should first
enter initial, low values of the controller to avoid loud
motor oscillation right after we turn the motor.
Open PID tuning window from our menu
„Configuration

PID tuning” or click on the icon
on the toolbar.
5.6.1 Initial settings of PID regulator
Optimal, initial values for various motor types may differ significantly however in the table below
there are parameters which should be „safe” in most of cases – they shouldn’t cause motor
oscillations after it is turned on.
PID controller type Parameter Value
Position
K
p
0,1
K
i
0
K
d
0
Max following error
Encoder imp/rev number (incl. all edges), so as for
now we allow for +/- 1 motor rev error
Speed
K
p
0,25
K
i
0,02
K
d
0
Current
K
p
2
K
i
0,05
Feedforward
V
ff
1
A
ff
0
simDrive™ AC Servo Drive -
U
SER
G
UIDE
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