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LC - Control Setting Parameters
Integral Gain
The integral gain is responsible for correcting long term average error in
speed as well as providing increased control and rigidity at lower speeds
for starting and stopping. The integral gain is split into three values one
for acceleration and constant speed (LC08), one for deceleration and
leveling (LC09) and one for pre-torque (LC10). Additionally, an offset to
the integral gain value is adjustable if it is necessary to have higher gain
values to overcome starting friction as well as maintain good control
at low speeds for starting (LC11) and stopping (LC12). The total integral
gain value is the sum of integral and offset and the low speed range over
which the offset is ramped up and active is adjustable (LC13-16) for both
acceleration (LC13-14) and deceleration (LC15-16).
If this value becomes too high, it can result in torque pulsations during
acceleration, deceleration, or at sustained speed. If the value becomes too low,
the tracking of the command speed will suffer and the system may not catch
the load quickly or overcome starting friction at takeoff, may take additional
time to reach contract speed, or cause spotting during a dynamic jerk into
leveling speed.
Integral Gain Too Low (100) - Speed Lags Command
Integral Gain High at High Speed (1500) - Ringing after overshoot into high speed
before speed settles.
Integral Gain High (1500) - Jerk acceleration, bunching or spotting during deceleration
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