138
Fig. 6-17 Step response with good dynamic performance
Note
If the PI parameter is not selected properly, the over-voltage fault may occur after the system is started to
reach the high speed quickly (if no external braking resistor or brake unit is connected). This is caused by the
energy feedback produced in the system regenerative braking while decelerating after the overshoot. It can
be avoided by adjusting the PI parameter.
3. The adjustment of the PI parameter in case of the high/low speed running of the speed regulator (ASR)
If both high-speed and low-speed running with load are required by the system, you can set the ASR
switching frequency (P05.03 and P05.07). Generally, while the system is running with the low frequency,
you can increase the proportional gain P and reduce the integral time I accordingly to improve the
dynamic response performances. The parameters of the speed regulator usually can be adjusted
according to the following steps:
1) Select the proper switching frequency (P05.03 and P05.07).
2) Adjust the proportional gain P05.04 and the integral time P05.05 for the high-speed running and
ensure no oscillation and sound dynamic response performance for the system.
3) Adjust the proportional gain P05.00 and the integral time P05.01 for the low speed running and ensure
no oscillation and sound dynamic response performance for the low-frequency running.
4. Speed regulator (ASR) filtering
Let the output of the speed regulator (ASR) pass the delay filter once to get the torque current reference.
P05.02 and P05.06 are the time constant of ASR1 and ASR2 output filters respectively.
The differential gain of the speed loop P05.12 is used to increase the damping of the system, which can
reduce the overshoot and backswing of the system. There is no need to set this parameter in most of
running occasions.
For the relationship between the step response and PI parameters of the speed regulator (ASR), please
refer to Fig. 6-16.
Set the physical channel for the positive and negative torque limits.
Braking torque limit channel
0~3
0
P05.14
Electric torque limit channel
0~3
0
P05.13
ASR differential gain
0.00~10.00
0.00
P05.12
Differential gain enabling
0~1
0
P05.11
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