Current Int Gain Parameter; Speed Prop Gain Parameter; Speed Int Gain Parameter - Baldor 22H series Installation & Operating Manual

Section 1
General Information

Current Int Gain Parameter

Speed Prop Gain Parameter

Speed Int Gain Parameter

6-2 Manual Tuning the Series 22H Control
The Current Int Gain parameter located in the Level 1 Vector Control Block is factory
preset at 150 Hz. This setting is suitable for essentially all systems. DO NOT CHANGE
WITHOUT FACTORY APPROVAL.
The Speed Prop Gain parameter located in the Level 1 Vector Control Block is factory set
to 10. This gain may be increased or decreased to suit the application. Increasing the
Speed Prop Gain parameter will result in faster response, excessive proportional gain will
cause overshoot and ringing. Decreasing the Speed Prop Gain parameter will cause
slower response and decrease overshoot and ringing caused by excessive proportional
gain.
The Speed Int Gain parameter located in the Level 1 Vector Control Block is set to 1 Hz
and may be set at any value from zero to 9.99 Hz. See also, PI Controller later in this
section.
Setting the Speed Int Gain parameter to 0Hz removes integral compensation that results
in a proportional rate loop. This selection is ideal for systems where overshoot must be
avoided and substantial stiffness (ability of the controller to maintain commanded speed
despite varying torque loads) isn't required.
Increasing values of the Speed Int Gain parameter increases the low frequency gain and
stiffness of the controller, an excessive integral gain setting will cause overshoot for
transient speed commands and may lead to oscillation. Typical setting is 4 Hz. If the
Speed Prop Gain parameter and the Speed Int Gain parameter are set too high, an
overshoot condition can also occur.
To manually tune the control, the following procedure is used:
1. Set the speed Int Gain parameter = 0 (remove integral gain).
2. Increase the Speed Prop Gain parameter setting until adequate response to
step speed commands is attained.
3. Increase the Speed Int Gain parameter setting to increase the stiffness of the
drive or its' ability to maintain speed with dynamic load changes.
Note: It is convenient to monitor speed step response with a strip chart recorder or
storage oscilloscope connected to J1–6 or –7 with Level 1, Output Block
Analog Out #1 or #2 set to ABS SPEED, 0 VDC = zero speed. See Section 3
for a discussion of analog outputs.
MN722