Delta Electronics AC Servo Drive ASDA-B User Manual
Page 136
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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