(1) Azimuth share gain
Sets the share gain of the azimuth ring adjuster. The higher the set value, the higher the gain, the greater the stiffness, and the smaller the azimuth lag under the same frequency command pulse. However, too large a value may cause vibration or overshoot. The parameter values are confirmed by the detailed servo system type and load condition.
(2) Azimuth feedforward gain
Sets the feedforward gain of the azimuth ring. When the set value is larger, it indicates that under any frequency of command pulses, the smaller the azimuth lag and the larger the feedforward gain of the azimuth ring, the high-speed response characteristics of the control system are improved, but the azimuth of the system is unstable and prone to vibration. If a high response feature is not required, this parameter is usually set to 0 to indicate the scale: 0-100%.
(3) Speed share gain
Sets the share gain of the speed regulator. The higher the setting value, the higher the gain and the greater the stiffness. The parameter values are checked according to the detailed servo drive system type and load value. In general, the larger the load inertia, the greater the setpoint. Under the condition that the system does not vibrate, set a large value as much as possible.
(4) Velocity integration time constant
Sets the integration time constant for the speed regulator. The smaller the setting value, the faster the integration will be. The parameter values are checked according to the detailed servo drive system type and load condition. In general, the larger the load inertia, the greater the setpoint. Under the condition that the system does not vibrate, try to set a small value.
(5) Velocity response filter factor
Set the characteristics of the low-pass filter for speed response. The higher the value, the lower the cut-off frequency and the less noise generated by the motor. If the load inertia is large, the set value can be reduced appropriately. If the value is too large, the formation of echoes will be slower, which may cause vibrations. The lower the value, the higher the cut-off frequency, and the faster the speed response will be. If the demand for a higher speed responds, the setpoint can be reduced appropriately.
(6) Maximum output torque setting
Sets the internal torque constraint value for the servo drive. The set value is the percentage of the rated torque, and at any time, this constraint has the size of the positioning end pulse under the positioning end scale setting azimuth control method. When the number of remaining pulses in the azimuth deviation counter is less than or equal to the set value of this parameter, the driver thinks that the positioning has been completed, and the switch signal in place is ON, otherwise it is OFF.
In the azimuth control method, the output azimuth positioning completion signal, and the setting value of the acceleration and deceleration time constant is to indicate the acceleration time of the motor from 0 to 2000 r/min or the deceleration time from 2000 to 0 r/min. The acceleration and deceleration characteristics are linear, the arrival speed scale is set to the arrival speed in the non-azimuth control method, if the servo motor speed exceeds this set value, the speed arrival switch signal is ON, otherwise it is OFF. In the Bearing Manipulation method, this parameter is not necessary. Regardless of the direction of rotation.
(7) Manually adjust the gain parameters
Adjust the speed share gain KVP value. When the servo system is installed, it is necessary to adjust the parameters to make the system rotate steadily. First, adjust the speed share gain KVP value. Before the adjustment, it is necessary to adjust the integral gain KVI and differential gain KVD to zero, and then gradually increase the KVP value. At the same time, observe whether the vibration occurs when the servo motor is stopped, and adjust the KVP parameters manually to observe whether the rotation speed is obviously fast and slow. When the KVP value increases to the point where the above phenomenon occurs, it is necessary to adjust the KVP value back to a small amount so that the vibration can be eliminated and the rotation speed can be stabilized. In this case, the KVP value is the parameter value that starts to be confirmed. If necessary, after adjusting with KVI and KVD, it can be corrected repeatedly to reach the ideal value.
Adjust the integral gain KVI. value. The integral gain KVI value is gradually increased, so that the integral effect occurs gradually. From the above introduction of integral manipulation, it can be seen that when the integral effect of KVP value is increased to a critical value, it will vibrate and become unstable, just like the KVP value, and the KVI value will be called back to a small amount, so that the vibration will be eliminated and the rotation speed will be stable. In this case, the KVI value is the parameter value that starts to be confirmed.
Adjust the differential gain KVD value. The primary purpose of differential gain is to smooth out the velocity rotation and reduce the amount of overshoot. Therefore, increasing the KVD value gradually improves the speed stability.
Adjust the azimuth share gain KPP value. If the KPP value is adjusted too much, the motor positioning overshoot will be too large when the servo motor is positioned, resulting in an unstable phenomenon. At this time, it is necessary to reduce the KPP value, reduce the overshoot amount and avoid the unstable area; However, it should not be adjusted too small to reduce the positioning power. Therefore, care should be taken to cooperate when adjusting.
(8) Automatically adjust the gain parameters
Modern servo drives are microcomputerized, and most of them provide autotuning for most load conditions. When adjusting the parameters, you can use the automatic parameter adjustment function first, and then manually adjust if necessary.
In fact, there are also options for automatic gain adjustment, which generally divide the control response into several levels, such as high echo, medium echo, and low echo, which can be set by the user according to actual needs.
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