Motion iWMC Series - Chapter4 Performance Tuning; Tuning Velocity Loop

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Chapter4 Performance Tuning
Figure 4.1 is the block diagram of the control structure of the servo system, from which the servo system generally includes
three control loops: current loop, velocity loop and posion loop. For servo systems, good control loop parameters can
improve the performance of servos and beer meet the process requirements of the site. Therefore, it is very necessary to
adjust the parameters of the control loop.
During the debugging process, it is mainly necessary to adjust the velocity loop and posion loop parameters. The velocity
loop parameter is related to the load inera converted to the motor sha by the enre mechanical system. The posion
loop is the outermost control loop of the servo system, which is related to the motor acon mode, that is, the eld
applicaon. The current loop is the innermost control loop in the servo system, and the current loop parameters are related
to the motor parameters. Aer the motor is congured correctly, the system will default the current loop parameters to the
opmal parameters of the equipped motor, so there is no need to adjust them again.
4.1 Tuning Velocity Loop
Table 4–2 List of velocity loop parameters
Internal
address
Name
Descripon
Default
Range
60F90110
Kvp[0]
Used to set the response speed of the velocity loop
/
1~32767
60F90210
Kvi[0]
The me used to adjust the speed control to
compensate for small errors, increasing the integral gain
will result in greater overshoot.
/
0-1023
60F90710
Kvi/32
This data is 1/32 of KVI and is mainly used for seng up
high-resoluon encoders
/
0-32767
60F90508
Speed_Fb_N
Speed feedback ltering for velocity loops
7
0~45