Lenze PositionServo 940, Руководство пользователя

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S94P01B
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6.9 Compensation group
6.9.1 Velocity P-gain (Proportional)
Proportional gain adjusts the system’s overall response to a velocity error. The
velocity error is the difference between the commanded velocity of a motor shaft and
the actual shaft velocity as measured by the primary feedback device. By adjusting the
proportional gain, the bandwidth of the drive is more closely matched to the bandwidth
of the control signal, ensuring more precise response of the servo loop to the input
signal.
6.9.2 Velocity I-gain (Integral)
The output of the velocity integral gain compensator is proportional to the
accumulative error over cycle time, with I-gain controlling how fast the error
accumulates. Integral gain also increases the overall loop gain at the lower
frequencies, minimizing total error. Thus, its greatest effect is on a system running at
low speed, or in a steady state without rapid or frequent changes in velocity.
Note
The following four position gain settings are only active if the drive is
operating in Position mode. They have no effect in Velocity or Torque
modes.
6.9.3 Position P-gain (Proportional)
Position P-gain adjusts the system’s overall response to position error. Position
error is the difference between the commanded position of the motor shaft and the
actual shaft position. By adjusting the proportional gain, the bandwidth of the drive is
more closely matched to the bandwidth of the control signal, ensuring more precise
response of the servo loop to the input signal.
6.9.4 Position I-gain (Integral)
The output of the Position I-gain compensator is proportional to accumulative error
over cycle time, with I-gain controlling how fast the error accumulates. Integral gain
also increases overall loop gain at the lower frequencies, minimizing total error. Thus,
its greatest effect is on a system running at low speed, or in a steady state without
rapid or frequent changes in position.
6.9.5 Position D-gain (Differential)
The output of the Position D-gain compensator is proportional to the difference
between the current position error and the position error measured in the previous
servo cycle. D-gain decreases the bandwidth and increases the overall system
stability. It is responsible for removing oscillations caused by load inertia and acts
similar to a shock-absorber in a car.
6.9.6 Position I-limit
The Position I-limit will clamp the Position I-gain compensator to prevent excessive
torque overshooting caused by an over accumulation of the I-gain. It is defined in
terms of percent of maximum drive velocity. This is especially helpful when position
error is integrated over a long period of time.