Operation Manual of INVT CHS100 AC Servo Drive 7 Gain adjustment
101
that the fluctuation frequency of the motor speed is lower in this case which fully
indicates that increasing the gain of the speed loop can heighten the operating
frequency of the system, improve the quick response performance of the system, and
effectively overcome the influence of the interference.
Gain of the position loop is excessively low
In the servo system, the operating frequency of the position loop is much lower than the
speed loop. When the gain of the position loop is too low, the system is difficult to
eliminate the position deviation formed during speed response. This can cause
prolongation of the time interval of the motor speed follow-up position command.
Gain of the position loop is excessively high
In the position servo system, the gain of the position loop also affects the stability. At
this time, as the gain of the position loop is excessively high, it makes the motor speed
to fluctuate. Additionally, comparing with the case when the gain of the position loop is
too low we can know that the pure time delay of the response to the position command
of the motor speed is decreased.
Gain of the position loop is too low
When we adjust the gain of the position loop to a low value, the motor speed follow-up
position command represents obvious lag and the positioning time is prolonged largely.
The high accuracy and high response performance of the positioning system are
seriously affected.
7.1.1 Adjustment of the gain of the position loop
The position control block diagram of the CHS100 series servo drive is shown in the
figure below. The gain parameters that can be adjusted in the position mode are
marked out on the block diagram.