Position Loop Gain Adjustment - Delta Electronics ASDA-B2 series User Manual

Chapter 6 Control Modes of Operation

6.2.5 Position Loop Gain Adjustment

Before performing position control (setting position control block diagram), the users
should complete the speed control setting by using Manual mode (parameter P-32)
since the position loop contains speed loop. Then, adjust the Proportional Position
Loop Gain, KPP (parameter P2-00) and Position Feed Forward Gain, PFG (parameter
P2-02). Or use Auto mode to adjust the gain of speed and position control block
diagram automatically.
1) Proportional Position Loop Gain: To increase this gain can enhance the position
loop responsiveness.
2) Position Feed Forward Gain: To increase this gain can reduce the position track
error during operation.
The position loop responsiveness cannot exceed the speed loop responsiveness, and
it is recommended that the speed loop responsiveness should be at least four times
faster than the position loop responsiveness. This also means that the setting value of
Proportional Speed Loop Gain, KVP should be at least four times faster than
Proportional Position Loop Gain, KPP.
The equation is shown as follows:
fp < fv
, fv : Speed Loop Responsiveness (Hz), fp : Position Loop Responsiveness (Hz)
4
KPP = 2 ×  × fp.
For example, the desired position loop responsiveness is equal to 20 Hz.
Then, KPP = 2 ×  × 20= 125 rad/s.
Relevant parameters:
P2-00 KPP
Operation
Interface:
Default: 35
Control
Mode:
Unit: rad/s
Range: 0 ~ 2047
Data Size: 16-bit
Display
Format:
Settings:
This parameter is used to set the position loop gain. It can increase stiffness,
expedite position loop response and reduce position error. However, if the setting
value is over high, it may generate vibration or noise.
6-10
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Manuel Baliña 456, Lomas de Zamora (B1832CCJ) Buenos Aires, Argentina.
VARITEL INGENIERIA ELECTRONICA S.A.
Proportional Position Loop Gain
Keypad/Software
PT
Decimal
Communication
ASDA-B2
Address: 0200H
0201H
Related Section:
Section 6.2.5
Revision September 2013