OMS MAXnet, Руководство пользователя

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GETTING STARTED TUNE THE SYSTEM
2-14 MAXnet User’s Manual
slowly, then reduce the KD parameter. Optimally, the system’s motion profile should show the motor
reaching the desired velocity as quickly as possible without overshoot and oscillation (“ringing”).
The values for KD range from 10-100.
FIGURE 2-10
FIGURE 2-11
KP, KI, and KD are the primary parameters of concern when tuning a servo system. Once the
optimum values for these variables have been determined, you can adjust some of the secondary
parameters that will help fine tune your system’s performance. These other variables are described in the
subsequent steps.
The KV variable is used when tuning velocity controlled servos (voltage mode servo amplifiers.) This
is the velocity feedforward coefficient. KV determines how closely the system follows the desired
constant velocity portion of the motion profile. By increasing this term, the "Following Error" of the
system’s response can be minimized. However, too large of a value may result in unstable behavior
after command velocity changes.
The values for KV range from 0 to 249.99.
Desired Step Response
Too Much KD
Desired Step Response
Too Little KD