VelocityControlKiGain

General

Functional Description

The parameter VelocityControlKiGain represents the gain setting of the integral part of the velocity control for the carrier in percent (%).

The default value of the parameter is 0.5 %.

The parameter is used to enter the integral gain of the velocity controller. It defines how pronounced the modification of the reference current is when the actual velocity deviates from the reference velocity. The integral part helps to ensure that deviations of the velocity and position controller can be corrected without a static offset. If the factors that contribute to the disturbances, which externally influence the control loop, are constant, a tracking deviation of close to zero can be achieved.

The theoretical maximum possible dynamic in relation to the total mass is 100 %. The internal controller gain, which is parameterized using the parameter VelocityControlKiGain, is also dependent on the parameters Mass and AdditionalMass. These parameters must be validated before configuring the VelocityControlKiGain.

By increasing the VelocityControlKiGain, the dynamics of the speed control loop can be increased and so the tracking deviation can be reduced. However, if the value of the parameter VelocityControlKiGain is excessive, this may lead to the control loop becoming unstable. The value for which the stability limit is reached depends on the parameter VelocityControlKpGain and the mechanics connected to the carrier. To achieve a low tracking deviation, optimal conditions must be determined.