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Step 3: Increase Kp to maximize the system stiffness until motor noise/vibration
begins, following the same way as Vp. See figure 6-29, 6-30, 6-31 and 6-32. The
motor shaft or load is stiff enough at standstill when we increase Kp to 1800 and the
motor noise/vibration can be accepted.
Kp = 500
Position following error = 644
Figure 6-29: Increase Kp to 500 for quick response
Kp = 800
Position following error = 404
Figure 6-30: Increase Kp to 800 for quick response
Tel: (86)755-26434369
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Now the system has been basically tuned. In the following step, the user can
increase Kaff to further reduce the position following error if necessary.
Step 4: Increase Kaff to 5000 and 10000. The position following error reduces to
132 and 86, respectively. See figure 6-33 and 6-34.
Tel: (86)755-26434369
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Kp = 1200
Position following error = 266
Figure 6-31: Increase Kp to 1200 for quick response
Kp = 1800
Position following error = 178
Figure 6-32: Increase Kp to 1800 for quick response
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