Rockwell Automation 2092-DAx Ultra1500 User Manual - Manual (Page 112)

Publication 2092-UM001D-EN-P — July 2005
5-32 Ultra1500 Application Examples
Figure 5.13
Velocity Regulator Step Response with Varying Integrator Time
Integrator Mode
The Integrator Mode parameter controls how the integral term is applied to
the velocity regulator. It can be set to Always On, High Current Disable,
Velocity Command Disable, or Position Error Disable. This parameter
introduces a nonlinear control to the integrator (preventing it from integrating
in certain conditions) that may be useful in reducing or eliminating overshoot
in the velocity response from integrator windup. Integrator windup occurs
when the current regulator is saturated but the velocity error is not eliminated,
and usually causes overshoot during command changes
Velocity
Command
I = 0
I = 100
I = 10
I = 1
Integrator Time = 0
Integrator Time = 1
Time (msec)
0 20 40 60 80
0
50
100
150
200
450
400
350
300
250
V
elocity
Integrator Time = 100