What are the gain adjustment methods for DC servo motor controllers?
Position feedforward gain
1. Set the feedforward gain of the position loop;
2. A larger setting value indicates a smaller position lag under any frequency of command pulse;
3. A large feedforward gain in the position loop improves the high-speed response characteristics of the control system, but it can also make the system's position unstable and prone to oscillations.
4. When a high response characteristic is not required, this parameter is usually set to 0, indicating a range of 0~100%.
Position Scale Gain
1. Set the proportional gain of the position loop regulator;
2. A higher setting value results in higher gain, greater stiffness, and smaller position hysteresis under the same frequency command pulse conditions. However, excessively high values may cause oscillation or overshoot.
3. The parameter values are determined by the specific DC servo motor system model and load conditions.
Velocity integral time constant
1. Set the integral time constant of the speed regulator;
2. The smaller the setting value, the faster the integral speed. The parameter value is determined based on the specific DC servo motor control system model and load conditions. Generally, the larger the load inertia, the larger the setting value.
3. Set the value as small as possible without causing system oscillation.
Speed proportional gain
1. Set the proportional gain of the speed regulator;
2. The larger the setting value, the higher the gain and the greater the stiffness. The parameter value is determined based on the specific DC servo motor control system model and load conditions. Generally, the larger the load inertia, the larger the setting value.
3. Set the value as large as possible without causing system oscillation.
Speed feedback filter factor
1. Set the characteristics of the speed feedback low-pass filter;
2. The higher the value, the lower the cutoff frequency, and the less noise the DC servo motor produces. If the load inertia is very large, the setting value can be appropriately reduced. A value that is too large will slow down the response and may cause oscillation.
3. The smaller the value, the higher the cutoff frequency, and the faster the speed feedback response. If a higher speed response is required, the setting value can be appropriately reduced.
Maximum output torque setting
1. Set the internal torque limit value for the DC servo motor;
2. The setting value is a percentage of the rated torque;
3. This limitation effectively defines the scope of completion at all times;
4. Set the positioning completion pulse range under position control mode;
5. This parameter provides the basis for the driver to determine whether positioning is complete under position control mode. When the remaining number of pulses in the position deviation counter is less than or equal to the value set in this parameter, the DC servo motor controller considers positioning complete and the position switch signal is ON; otherwise, it is OFF.
6. In position control mode, output a position positioning completion signal and acceleration/deceleration time constant;
7. The setting value represents the acceleration time of the motor from 0 to 2000 r/min or the deceleration time from 2000 to 0 r/min;
8. The acceleration/deceleration characteristics are linear, reaching the specified speed range;
9. Set arrival speed;
10. In non-position control mode, if the speed of the DC servo motor exceeds this set value, the speed reach switch signal will be ON; otherwise, it will be OFF.
11. This parameter is not needed in position control mode;
12. It is independent of the direction of rotation.
