VL.KI - Velocity Loop Integral Gain
| Parameter | Description | Drive Keyword |
|---|---|---|
|
VL.KI |
Velocity Loop Integral Gain |
|
|
VL.KP |
Velocity Loop Proportional Gain |
This will increase the DC stiffness of your system. This is Equivalent to integral gain in a PID.
VL.KI is the Velocity Loop Integral term, and its units is specified in Hz
Note: Here VL.KP is set to 1.0 so that the gain of the system is at 0 dB
VL.KI specifies the bandwidth of the integral term. Where the gain is +3 dB at the integral frequency
Note: VL.KI ALWAYS decreases the phase of the system. The phase reduction is -45 deg at VL.KI (Hz) and nearly -90 deg one decade earlier
It is worthwhile to mention, that VL.KI (integral gain) ALWAYS reduces the phase in a system. When phase is reduced in a system, that is equivalent with saying the Stability has been reduced. Care should be taken when tuning VL.KI. Too much integral gain will cause low frequency oscillations that often grow out of control into a runaway situation.
