Delta ASD-A3-0121, Руководство пользователя

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ASDA-A3 Operation Mode
Revision December, 2017
6-21
6
Theoretically, a stepping response can be used to explain proportional gain (KVP), integral gain
(KVI), and feed forward gain (KVF). Here, the frequency domain and time domain are used to
illustrate the basic principle.
Frequency domain
The higher the KVP value, the larger the
bandwidth. The time of the speed
increase will also be shorter. However, if
the value is set too high, the phase margin
is too small. The effect is not as good as
KVI for the steady-state error but is better
for the effect on following.
The higher the KVI value, the larger the
low frequency gain. It shortens the time
for the steady-state error to reduce to
zero. However, it does not significantly
reduce the following error.
The closer the KVF value is to 1, the more
complete the forward compensation. The
following error becomes very small. But a
KVF value that is set too high also causes
vibration.