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Tel: (86)755-26434369
34
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Figure 37: Position following error curve and velocity curve (Kp=4000, Ki=500 and Kd=7000)
Figure 38: Position following error curve and velocity curve (Kp=6000, Ki=500 and Kd=7000)
A
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Tel: (86)755-26434369
35
Website: www.leadshine.com
Increase Kd can reduce velocity overshoot, and get a better velocity curve in as
shown in Figure 39.
Figure 39: Position following error curve and velocity curve (Kp=6000, Ki=500 and Kd=8500)
Since position following error is still large during constant speed period in Figure 39,
we try to increase Ki to improve system
’
s performances. Figure 40, Figure 41, and
Figure 42 show the result after increasing Ki. From Figure 42, we can see that too
much Ki will cause position curve over shoot.
