Servo driver gain parameter setting 1.
Manually adjust the gain parameter to adjust the speed proportional gain KVP value.
When the servo system is installed, the parameters must be adjusted to make the system rotate stably. First, adjust the speed proportional gain KVP value.
Before adjustment, the integral gain KVI and differential gain KVD must be adjusted to zero, and then the KVP value must be gradually increased;
At the same time, observe whether the servo motor has sufficient oscillation when it stops, and adjust KVP parameters manually to observe whether the rotation speed is obviously fast and slow.
When the KVP value is increased to produce the above phenomenon, the KVP value must be reduced back to eliminate the oscillation and stabilize the rotation speed.
The KVP value at this time is the initially determined parameter value.
If necessary, after adjustment by kⅵ and KVD, repeated correction can be made to reach the ideal value. Adjust the integral gain kⅵ value.
The integral gain KVI value is gradually increased, so that the integral effect is gradually generated.
From the introduction of integral control mentioned above, it can be seen that the KVP value will oscillate and become unstable when the integration effect increases to the critical value. Just like the KVP value, the KVI value will be reduced back, the oscillation is eliminated and the rotation speed is stable.
The KVI value at this time is the initially determined parameter value. Adjust the differential gain KVD value.
The main purpose of differential gain is to make the speed rotation stable and reduce overshoot.
Therefore, increasing KVD value gradually can improve speed stability. Adjust the position proportional gain KPP value.
If the KPP value is adjusted too large, the servo motor positioning overshoot will occur when the servo motor is positioned, resulting in instability.
At this time, the KPP value must be reduced to reduce the overshoot and avoid the unstable area;
However, the adjustment cannot be too small to reduce the positioning efficiency. Therefore, care should be taken when adjusting. 2.
Automatic adjustment of gain parameters modern servo drivers have been microcomputerized, and most of them provide automatic gain adjustment (autotuning)The function of can cope with most load conditions.
When adjusting parameters, you can use the automatic parameter adjustment function first, and then manually adjust if necessary.
In fact, there are also option settings for automatic gain adjustment. Generally, the control response is divided into several levels, such as high response, medium response and low response. Users can set them according to actual needs.
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