Delta-electronics AC Servo Drive ASDA-B Manual de usuario descargar pdf (Pagina 136)

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Chapter 6 Control Modes of Operation|ASDA-B Series

Revision February 2008, Doc. Name: 2006PDD23000009 6-21

STEP 3 Select the value of KVI, if the value of

phase margin is too small, re-adjust

the value of KVP again to obtain the

：

value, 45deg of phase margin.

Gain

Frequency

Phase

Frequency

Time Domain

KVP

When the value of KVP is greater , the value of the

responsiveness is also greater and the raising time

is shorter.

However, when the value of phase margin is over low,

it is not helpful to steady error.

But it is helpful to dynamic tracking error.

Speed

Time

KVI

When the value of KVI is greater, the value of

low-frequency gain is also greater and the value

of steady error is nearly zero (0).

However, the value of phase margin will reduce

quite substantially.

It is helpful to steady error. But it is not helpful to

dynamic tracking error.

Speed

Time

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Delta-electronics AC Servo Drive ASDA-B Manual de usuario Pagina 136

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