EA180 Series Servo Drive Users Manual PI controller structure: Kp + + + - TCMD VCMD - Integrator Ki Kp PC Comparison of IP controller and PI controller under the same proportional gain and integral time parameters IP controllers are usually designed for small machines with good responsiveness (high mechanical rigidity). At the same time, for the step command of the position, it softens the torque rise characteristic at start-up, thereby reducing the vibration. PI controllers are usually designed for large machines with poor responsiveness (high mechanical rigidity).
At the same time, since large torque can be obtained in a relatively short time after receiving the speed command, it can improve the torque rise characteristic at start-up when used on machines with high rigidity (e.g., small machines using screw drive). PDFF controller combines the characteristics of IP and PI controllers and can tend to IP controller or PI controller according to the PDFF coefficient, giving consideration to both responsiveness and low vibration in case of frequent start-stop.
Associated parameters 71 rque PI Control IP Control Tim Function Parameter name Function code P4-12 PDFF control coefficient The more the set value tends to 0, the more PDFF controller tends to IP controller. When the set value is 0, PDFF controller is completely an IP controller. The more the set value tends to 100, the more PDFF controller tends to PI controller. When the set value is 100, PDFF controller is completely a PI controller. When there is overshoot in speed feedback, gradually reduce P4-12 from 100 until the effect is achieved.