UndercompensatedA
Normally tuned (autotuning)B
Normally tuned (manually). Better dynamic performance than with BC
Overcompensated speed controllerD
Autotune results
At the end of a successful autotune routine, its results are automatically transferred
into parameters
• 25.2 (proportional gain of the speed controller)
• 25.3 (integration time of the speed controller)
• 25.37 (mechanical time constant of the motor and machine).
Nevertheless, it is still possible to manually adjust the controller gain, integration
time and derivation time.
The figure below is a simplified block diagram of the speed controller. The controller
output is the reference for the torque controller.
Program features 81
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