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1. Component of speed regulator (ASR)
As shown in Fig.6-15, K
P
is the proportional gain P and T
I
is the integral time I.
Fig. 6-15 Simple diagram of the speed regulator
When the integral time is set to be 0 (P05.01=0, P05.05=0), there is no integral action and the speed loop
is a simple proportion regulator.
2. Setting of the proportional gain P and integral time I of the speed regulator (ASR)
Fig. 6-16 Diagram of relationship between the step response and PI parameters
Increasing the proportional gain P can accelerate the dynamic response of the system, but if the P value
is too large, it is easy to cause the oscillation of the system.
Decreasing the integral time I can accelerate the dynamic response of the system, but if the I value is too
small, it is easy to cause the overshoot and oscillation of the system.
Generally, it is better to adjust the proportional gain P first to increase the P value as larger as
possible while ensuring no oscillation to the system, and then adjust the integral time I to ensure that the
system has quick response features and small overshoot. The Fig. 6-22 shows the speed step response
curve while the values of P and I are selected properly (the speed response curve can be observed with
the analog output terminal AO1, please refer to the parameters of Group P10)
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