Velocity Control Loop

Habitually, velocity control is performed within the drive controller by the velocity controller unit. This velocity controller is depicted within the controller overview of the Drive Manager. When velocity control is brought into the TwinCAT runtime this software velocity control unit has to be configured. The velocity control loop parameters configure the software velocity control within the TwinCAT runtime.

Velocity control: Proportional Factor Kv

Velocity Control Loop 1:

Velocity Control Loop 2:

Velocity Control Loop 3:

The proportional factor Kv is the gain factor of the P controller.

Velocity control: Integral Action Time Tn

Velocity Control Loop 4:
Velocity Control Loop 5:
Velocity Control Loop 6:

Integral action time Tn of the I part of the PID controller. Integration time.

Velocity control: Derivative Action Time Tv

Velocity Control Loop 7:
Velocity Control Loop 8:
Velocity Control Loop 9:

Derivative action time Tv of the real D part (D-T1 component) of the PID controller.

Velocity control: Damping Time Td

Velocity Control Loop 10:
Velocity Control Loop 11:
Velocity Control Loop 12:

Damping time Td of the real D part (D-T1 component) of the PID controller.

Velocity control: Min./max. limitation D-Part [0.0 … 1.0]

Velocity Control Loop 13:
Velocity Control Loop 14:
Velocity Control Loop 15:

Limitation of the D part of the PID controller.

Velocity control: Min./max. limitation I-Part [0.0 … 1.0]

Velocity Control Loop 16:
Velocity Control Loop 17:
Velocity Control Loop 18:

Limitation of the I part of the PID controller.