Kollmorgen AKD PDMM series, Руководство пользователя

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AKD PDMM User Guide | 12.3.4.1 Tuning the Velocity Loop
7. Adjust VL.KP. Keep increasing VL.KP by a factor of 2 until you either:
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Hear an objectionable noise from the system (buzzing, humming, etc) or
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See velocity overshoot. No velocity overshoot should be present when using only VL.KP.
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When you reach one of the limits above, decrease VL.KP to the value where there were no objec-
tionable noises or overshoot.
8. Adjust VL.KI. Increase VL.KI by a factor of 1.5 until you either:
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Hear or see objectionable noise or shuddering from the system
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See > 15% overshoot
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Here is an example of 15% overshoot. This is zoomed in view of a service motion commanded to
1000 RPM (location 1), where the overshoot peaks at 1150 RPM (location 2).
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Here is an example of 11 overshoots. Each overshoot is shown by a red circle.
Kollmorgen™ | December 2012 90