Shenzhen Hpmont Technology Co., Ltd Chapter 6 Function Introduction
HD5L Series Controller User Manual ―71―
6.2.9 Group F08 Motor Vector Control Speed-loop Parameters
Code Name Description Range
factory setting
F08.00 Low speed ASR Kp 1
9999
500
F08.02 High speed ASR Kp 1
9999
500
F08.04 ASR PI swithcing frequency 1 0.00
50.00
10.00Hz
ASR PI swithcing frequency 2
The parameters of F08.00－F08.05 and F08.07 comfirm the PID parameters of ASR. The structure of
ASR is shown in figure.
As the right figure:
• When the controller operates with frequency in a
range of 0－F08.04, the PI parameters of vector
control are F08.00 and F08.01;
• When the controller operates with frequency
above the value of F08.05, the PI parameters of
vector control are F08.02 and F08.03;
• When the controller operates with frequency in a
range of F08.04－F08.05, P is the linear
interpolation between F08.00 and F08.02, while I
is the linear interpolation between F08.01 and
F08.03.
• The system’s response can be expedited through increasing the ASR KP (F08.00, F08.02), but
oscillation may occur if the value of KP is too high.
• The system’s response can be expedited through increasing the ASR KI (F08.01, F08.03), but
oscillation and high overshoot happen easily if the value of KI is too high.
• If F08.01/F08.03 = 0 and the integral function is disabled, the speed-loop works only as a
proportional regulator.
• Generally, the KP should be adjusted firstly to the maximum on condition that the system does not
vibrate, and then the KI should be adjusted to shorten the response time without overshoot.
• It need increase KP and KI, on condition that shorter dynamic response time is required during
low frequency operation.
F08.06 ASR integral limitation 0.0
200.0 (Motor rated
current)
180.0%
It is used to limit the maximum value of the vector control speed-loop integral.
F08.07 ASR differential time 0.000
1.000
0.000s
It defines the vector control speed-loop differential time.
• Generally, it doesn’t need to set F08.07 except for expediting the dynamic response.
• There isn’t speed-loop differential when F08.07 = 0.
F08.08 ASR output filter time 0.000
1.000
0.008s
It is used to filter the output of ASR regulator.
• When F08.08 = 0, the speed-loop filter is disabled.
Torque current
setting
Frequency command
+
-
Frequency feedback
PID
Error
Torque limit
F08.04 F08.05
F08.00 /
F08.01
F08.02 /
F08.03
0
Frequency
PI parameter
6
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