Integrator Mode - Allen-Bradley Ultra1500 2092-DA1 User Manual

5-32 Ultra1500 Application Examples
Publication 2092-UM001D-EN-P — July 2005
Figure 5.13
Velocity Regulator Step Response with Varying Integrator Time
450
400
Integrator Time = 1
350
300
250
200
150
100
50
0
0 20

Integrator Mode

The Integrator Mode parameter controls how the integral term is applied to
the velocity regulator. It can be set to Always On, High Current Disable,
Velocity Command Disable, or Position Error Disable. This parameter
introduces a nonlinear control to the integrator (preventing it from integrating
in certain conditions) that may be useful in reducing or eliminating overshoot
in the velocity response from integrator windup. Integrator windup occurs
when the current regulator is saturated but the velocity error is not eliminated,
and usually causes overshoot during command changes
Integrator Time = 0
Integrator Time = 100
40 60
Time (msec)
Velocity
Command
I = 0
I = 100
I = 10
I = 1
80