4-191
(2) Tune the speed control ASR gain :
Follow the below steps to tune the gain.
a.The gain tuning of the minimum output frequency
. Make the motor operate at the lowest output frequency.
. Improve the ASR proportional gain 2 (20-02) as much as possible, which will
not cause instability.
. Reduce the ASR integral time 2(20-03) as much as possible, which will not
cause instability.
. Confirm the output current is less than 50% of the inverter rated current. If the
output current is more than 50% of the inverter rated current, reduce 20-02 and
increase 20-03.
b. The gain tuning of maximum output frequency
. Make the motor operate at the highest output frequency (Fmax）.
. Improve the ASR proportional gain 1 (20-00) as much as possible, which will
not cause instability.
. Reduce the ASR integral time 1(20-02) as much as possible, which will not
cause instability.
c. The gain tuning of acceleration / deceleration integral control (20-07)
. In the acceleration / deceleration set 20-07 = 1 (enabled) period, the integral
control is enabled.
. Integral control enables the motor speed reaches the target speed as soon as
possible, but it may result in overshoot or less, as shown in Figure 4.3.113 &
4.3.114.
. When one of multi-function digital inputs (03-00 to 03-07) is set to 43 (speed
control integral reset), the input can be used to switch the P control and PI
control of the speed control loop system (ASR). When the multi-function digital
input is on, it is used for P control (integral reset).
─If the speed overshoot occurs, reduce 20-00 system (ASR proportional gain
1) and increase the 20-01 system (ASR integral time 1).
─If the speed is less, reduce 20-02 system (ASR proportional gain 2) and
increase 20-03 (ASR integral time 2).
─If you can not eliminate the speed overshoot or less by the above gain
tuning, reduce the ASR + / - limit (20-05 / 20-06), so as to decrease the
reference frequency compensation (Δf) limit. Since 20-05/20-06 can not be
changed in the process of operation, it is necessary to firstly stop the inerter
and then reduce the ASR + / - limit.
. Set as the figure 4.3.111, observe the motor speed waveform and tune the
gain at the same time.
Figure 4.3.111 Analog output setting
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