Elmomc SimplIQ Digital Servo Drives-Bell Getting Started Manual de usuario descargar pdf (Pagina 68)

The SimplIQ for Steppers Getting Started & Tuning and Commissioning Guide

MAN-BELGS (Ver. 1.1)

Figure 59 reveals the following:

1. The measured output does not reach the commanded step.

2. Current command is far from saturation, therefore you can increase the

velocity command.

Figure 60 repeats the same test with increased velocity and test duration as given

in the table below. Note that there is a long time duration (from 0.7 to 1.3 sec.)

that the velocity is almost fixed while the current increases, this is a result of high

friction.

KP KI Velocity +Displ. -Displ. Rec. T. Rec. Res Profile

1 3 48000 20000 20000 2.4 sec 2 msec Off

0 0.1 0.2 0.3 0.4 0.5

-3

-2.1

-1.2

-0.3

0.6

1.5

x 10

Time (sec.)

Counts/sec.

Speed

Reference

0 0.5 1 1.5 2 2.5

-0.3

-0.2

-0.1

0.1

0.2

Ampere

Time (sec.)

Figure 60: A test with the same controller as the test of Figure 59 with a higher velocity

command and a longer recording time (Speed2)

1. Repeat step 1, increasing KI and KP simultaneously by 50% at a time until one

of the following occurs:

 The step response exhibits an overshoot of about 20%.

 The step response is unacceptable for any reason, for example any sign of

resonant oscillation.

 The system exhibits large overshoot and undershoot which is a sign of being

close to instability. In this case decrease KP by at least a factor of 2.0.

The final response is in Figure 61, which includes several tests based on increasing

KI and KP with the values given in the following table

KP KI Velocity +Displ. -Displ. Rec. T. Rec. Res Profile

10,20,30,40

Pπ

12000 5000 5000 0.48 sec 400 usec Off

1 2 ... 63 64 65 66 67 68 69 70 71 72 73 ... 93 94

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Elmomc SimplIQ Digital Servo Drives-Bell Getting Started Manual de usuario Pagina 68

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