ABB NTDI21-A DC input module

The Proportional Velocity Loop Gain “KVP” is set based on two variables. Pacific Scientific selects a default bandwidth (BW) of 75 Hz to reduce the unknown to one variable. The system inertia is the second variable. Pacific Scientific chooses a default system inertia that is twice the motor inertia.

Pacific Scientific assumes

 the load inertia and motor inertia are a 1:1 ratio as default. This default configuration should cover applications that have a load:motor inertia ratio from 0:1 to approximately 6:1 without user adjustment. The user is allowed to set inertia ratio in the “new configuration” window of 830 Tools. If the user sets the inertia ratio too high, the motor will buzz and vibrate the shaft. The motor current feedback will oscillate from +peak to -peak, and this can be seen with the softscope.

Integral Gain (KVI)

 The Integral Velocity Loop Gain “KVI” is set based on the default velocity BW of 75 Hz. KVI is used to reduce steady state error from the velocity loop. KVI removes velocity error when you are holding zero speed, or running at constant speed. Pacific Scientific sets KVI to a stable default value when the load inertia is less than a 6:1 ratio to the motor inertia. When the load inertia is larger than 6:1, and the inertia ratio parameter is at default 1:1, you can see velocity overshoot and oscillation in the motor motion.

                                                                        

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