S-D4006-D Reliance Analog I/O module

The tuning of the velocity regulator is accomplished by changing the variables P GAIN, | GAIN, and D
GAIN. The P GAIN is the proportional gain of the velocity regulator. In general, increasing P GAIN reduces
the time required to reach the commanded velocity. The | GAIN is the integral gain of the vefocity
regulator. Integration in the velocity regulator forces the motor velocity to precisely follow the commanded
velocity with no error under steady state conditions (no changesin velocity command or load). Increasing
1 GAIN increasesthestiffness, or the ability to reject load disturbances. Increasing | GAIN also, however,
increases the amount of velocity overshoot when responding to a step change in velocity. Too much|
GAIN can cause the system to go unstable. The D GAIN is the damping gain. it is used to reduce the
amount of overshoot caused by the | GAIN term. It can also be used to minimize torsional resonance
between the motor and load in some systems. A block diagram of the velocity regulator is shown in Figure 5-11,To reduce stress on the mechanical components of the machine, the P GAIN, | GAIN and D GAIN should
be set as low as possible while still maintaining the desired performance.