Optimization of the velocity controller

The velocity controller is a PI controller. It is only active if field-oriented control is activated (Commutation type = "Stepper FOC with encoder").

The following parameters are optimized in this chapter:

Preparation

1. Open the "Run motor" menu

2. Temporarily disable the position controller by setting the value Kv of the position controller to 0.
Optimization of the velocity controller 1:

3. Click the "Start record" button.
Optimization of the velocity controller 2:

The Scope View records position, velocity and following error.

4. Under "NC": select "Functions"

5. In the "Start mode" field, select the "Reversing sequence" entry

6. Enter realistic values in the following fields:
Target position 1
Target velocity
Target position 2

7. Click the "Start" button.

The motor performs the set movement periodically.

8. If necessary, reduce the acceleration time
See chapter Dynamics.

9. Under "Drive Parameters", select the "Velocity control" tab

You can set the controller parameters of the velocity controller here.

1. Reduce the Tn value step by step
Confirm each entry with [Ctrl] + [Enter]
Meanwhile, observe the Scope View

At a certain value of Tn, the motor starts to oscillate.
Example without oscillation:
Optimization of the velocity controller 3:

Example with oscillation:
Optimization of the velocity controller 4:

From here on, do not reduce the Tn value any further.

2. Increase Tn again until the motor no longer oscillates

3. Increase Tn a bit more, depending on the application

The integral component Tn is optimized.

The optimization of Kp is analogous to the optimization of Tn. However, you do not have to reduce Kp, but increase it.

1. Increase the Kp value step by step
Confirm each entry with [Ctrl] + [Enter]
Meanwhile, observe the Scope View

At a certain value of Tn, the motor starts to oscillate. See above.

2. Reduce Kp again until the motor no longer oscillates

3. Still reduce Kp a little. Depending on the application