1. Speed Loop Gain: A parameter that determines the responsiveness of the speed loop. Since a low speed loop responsiveness can become a delay factor for the outer position loop, overshoot or vibration of the speed command may occur. Therefore, within the range where the mechanical system does not vibrate, a higher set value results in a more stable servo system and better responsiveness.
2. Position Loop Gain: The responsiveness of the servo unit's position loop is determined by the position loop gain. A higher position loop gain results in better responsiveness and shorter positioning time. Generally, the position loop gain should not be increased beyond the range of the mechanical system's natural vibration coefficients.
Position loop gain controls the positioning accuracy of the motor .
Therefore, to set a larger position loop gain, it is necessary to increase the machine's rigidity and natural vibration coefficient. Speed loop integral time constant: When the gain is too large and the motor vibrates, this parameter can be adjusted to reduce vibration.
In my opinion, while integration can eliminate steady-state error, it can also be a source of instability during dynamic operation. Its impact increases proportionally with the load size. If we consider integration as a small-signal interference source, the load can be viewed as an amplifier, with its amplification factor proportional to the load inertia. Integration is only effective at low speeds (near zero speed); at higher speeds, it may cause some instability.
The gain value needs to be adjusted appropriately. If it's too small, it will affect the dynamic accuracy and positioning accuracy of the machine tool. If it's too large, it will cause abnormal noise from the motor.
After the machine tool is running normally, it is best to perform automatic optimization on each axis. If you are skilled enough, you can perform manual optimization, which will yield better results.
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