Parker Hannifin
Chapter 5 Tuning - 61 -
4. With PGAIN increased to 0.001, motor responsiveness has increased
and the over-damping has decreased slightly. As there is no significant
change to the settling, there is no need to adjust the DGAIN. However,
there is still room for improvement on motor response.
5. The PGAIN is increased to 0.005, resulting again in increased
responsiveness, as seen in the following figure. But with increased
oscillations, due to under-damping, DGAIN needs to be adjusted again.
To Next Page
Loading...
