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2.4.3.2 Manual Tuning of the velocity control
loop
If the drive is intended to be operated in velocity control mode, the proportional and integral gains of the
velocity control loop have to be tuned manually.
To do so, it is recommended to use OBLAC Drives to generate a velocity reference similar to a typical velocity
reference of the intended application. This can either be a constant velocity or a dynamic signal (sinewave,
trapezoidal etc.). While this reference trajectory is continuously being sent to the drive, you can increase the
controller gains to optimize the tracking behaviour. Proportional and Integral gains should both be iteratively
increased. There are various procedures on how to carry out this iterative process. As a general rule of thumb
on which parameter to change next, the following is helpful:
If the behaviour of the system at low frequencies shall be improved, the Integral gain has to be changed.
This applies if either it takes one or several seconds too long to reach a desired speed or if the speed
oscilates between ‘too fast’ and ‘too slow’ slowly (once per second or even slower)
If the behaviour of the system at high frequencies shall be improved, the Proportional gain has to be
changed. This applies if either acceleration and deceleration durations shall be reduced even further (to less
than about 1 second) one if the speed shows indesired fast oscilations which often become perceptabile
acoustically
Further reference
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