Manual Tuning of the velocity control loop

If the drive is intended to be operated in velocity control mode, the proportional and integral gains of the velocity control loop have to be tuned manually.

To do so, it is recommended to use OBLAC Drives to generate a velocity reference similar to a typical velocity reference of the intended application. This can either be a constant velocity or a dynamic signal (sinewave, trapezoidal etc.). While this reference trajectory is continuously being sent to the drive, you can increase the controller gains to optimize the tracking behavior. Proportional and Integral gains should both be iteratively increased. There are various procedures on how to carry out this iterative process. As a general rule of thumb on which parameter to change next, the following is helpful:

• If the behavior of the system at low frequencies shall be improved, the Integral gain has to be changed. This applies if either it takes one or several seconds too long to reach a desired speed or if the speed oscillates between ‘too fast’ and ‘too slow’ slowly (once per second or even slower).

• If the behavior of the system at high frequencies shall be improved, the Proportional gain has to be changed. This applies if either acceleration and deceleration duration shall be reduced even further (to less than about 1 second) one if the speed shows undesired fast osculations which often become perceptible acoustically.

Further reference