Rockwell Automation 2092-DAx Ultra1500 User Manual - Manual (Page 110)

Publication 2092-UM001D-EN-P — July 2005
5-30 Ultra1500 Application Examples
Velocity Regulator Settings
The velocity regulator includes the following parameters available for
adjustment by the user:
• P Gain
• Integrator Time
• Integrator Mode
• Integrator Threshold
• D Gain
• Low Pass Filter Bandwidth
P Gain
The P Gain parameter sets the proportional response of the velocity regulator.
It can be in the range of 0–500. The regulator uses this gain to generate an
acceleration command proportional to the velocity error. Larger gains result in
larger acceleration commands, a faster response, and increasing stiffness of the
system for a given velocity error. P Gain settings that are too large may cause
instability, while settings that are too small may result in loose or sloppy system
dynamics.
Figure 5.12 shows the effect of varying the P Gain to the velocity step
response, with the Integral Time and D Gain set to zero. The response takes
more time to approach the command value for smaller values of P Gain and
responds more quickly with higher values. Excessive P Gain can result in
instability and an oscillatory response.