Leadshine ACS606 - Page 16

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Tel: (86)755-26434369 26 Website: www.leadshine.com
smaller overshoot response as figure 27.
4. After getting a small overshoot response, increase Ki to reduce the steady-state
error until get a critically damped response. See figure 29.
Figure 27: Step response with better Kp of current-loop (Kp = 17000)
Figure 28: Response with High Kp of current-loop(Kp = 24000)
Begin to Overshoot
Large Overshoot
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Tel: (86)755-26434369 27 Website: www.leadshine.com
Figure 29: Step response with better Kp and Ki of
current-loop(Kp=17000,Ki=400)
5. At that moment Kp and Ki of the current loop is nearly optimum. To reduce the
raise time please increase Kp, and increase Ki to reduce the steady-state error. You
can use the mouse to drag a rectangle to zoom in the curse for more detail. Click any
place of the window to zoom out. See figure 30.
Figure 30: Drag a rectangle to zoom in