Leadshine Technology ACS806 - Page 22

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Tel: (86)755-26434369 38 Website: www.leadshine.com
Increase Kd can reduce velocity overshoot, and get a better velocity curve in as
shown in Figure 39.
Figure 39: Position following error curve and velocity curve (Kp=1500, Ki=100 and Kd=1200)
Since position following error is still large during constant speed period in Figure 39,
we try to increase Ki to improve system’s performances. Figure 40, Figure 41, and
Figure 42 show the result after increasing Ki. From Figure 42, we can see that too
much Ki will cause position curve over shoot.
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Tel: (86)755-26434369 39 Website: www.leadshine.com
Figure 40: Position following error curve and velocity curve (Kp=1500, Ki=200 and Kd=1200)
Figure 41: Position following error curve and velocity curve (Kp=1500, Ki=300 and Kd=1200)