SECTION FIVE – COMPONENT DESCRIPTION
DS2000 USER’S MANUAL (rev.C)
5.10
5.4.1.2.3 SPEED LOOP
• The speed loop has a simple PI structure.
• Through the KI and KP gains the servosystem response can be adapted to the
applied load.
• The control loop is closed with a frequency of 5 kHz.
• The pass band is internally limited via software at 400 Hz; the phase shift is missing
for the usable pass band.
• The loop allows the setting of the “higher frequency” of the pass band because it is
proportional to VKI (axis rigidity at low speed).
• The VKP value allows to control the overshoot when set speed is reached
(higher gain,higher control)
• A low-pass filter of the second order is placed on the speed error to limit the
frequency response in case of device oscillation that cannot be compensated by
changing CNC or drive gains.
• System excessive gains can cause a reduction of the supplied torque due to the
excessive pass band and to the aliasing effect on the servo system main
frequencies.
5.4.1.2.4 SPEED LOOP OPTIMIZATION
The speed loop optimization is carried out adjusting VKI and VKP parameters, which
correspond, respectively, to the speed loop Integral and Proportional Gain, as well as
properly adjusting the filters, if necessary. It is possible to minimize the error acting on
VKI and VKP gains during the device operation thus obtaining the required response.
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