Kinco JD Series - Page 80

Kinco JD 伺服系列使用手册
80
Kinco JD Series Servo User Manual
For example, to set the filter bandwidth to "F =
500 Hz”, you need to set the parameter to 20.
Proportional gain of velocity loop Kvp: If the proportional gain of the velocity loop increases, the responsive
bandwidth of the velocity loop also increases. The bandwidth of the velocity loop is directly proportional to the
speed of response. Motor noise also increases when the velocity loop gain increases. If the gain is too great,
system oscillation may occur.
Integral gain of velocity loop Kvi: If the integral gain of the velocity loop increases, the low-frequency intensity
is improved, and the time for steady state adjustment is reduced; however, if the integral gain is too great,
system oscillation may occur.
Adjustment steps:
Step 1: Adjust the gain of velocity loop to calculate the bandwidth of velocity loop
Convert the load inertia of the motor into the inertia Jl of the motor shaft, and then add the inertia Jr of the
motor itself to obtain Jt = Jr + Jl. Put the result into the formula:
* * _
Vc_Loop_BW Kvp *
*204800000* 2 *2
pt
t
I K Encoder R
J 

To calculate the bandwidth of the velocity loop
Vc_Loop_BW
according to the adjusted the gain of velocity loop Kvp, only adjust Kvi according to actual
requirements.
Adjust the impact of Kvp and Kvi, as shown in Fig.9-2.
For the effect of Kvp adjustment, see the first to the fourth from left of Fig. 9-2. Kvp gradually increases from
the first to the fourth from left. The value of Kvi is 0.
For the effect of Kvi adjustment, see the first to the fourth from right of Fig. 9-2. Kvi gradually increases from
the first to the fourth from right. The value of Kvp remains unchanged.
Left 1
Right 1
Left 2
Right 2