4-193
Figure 4.3.113 System response of ASR proportion gain
. Reduce ASRintegral time 1(20-01), ASRintegral time 2 (20-02), but take care
of the system shock.
─ Relative long integral time will result in poor system response.
─ If integral time setting is too short, the system easily results in shock. Please
refer to the following figure.
. In the process of PI gain tuning, the system overshoot occurs, the over voltage
protection may occur. The braking unit (braking resistence) can be used to
avoid this trouble.
1
1
2
2
t
Motor
Speed
1 ：20-01 setting is too short(oscillation occurs)
2 ：20-01 setting is too long(slow response)
Figure 4.3.114 The response of ASR integral time
SLV mode gain tuing (20-00~20-03, 20-09~20-18)
. Tune the low-speed ASR PI gain 20-02 ~ 20-03 at the reference speed, lower than
20-15. P gain and integral time tuning are similar to the 20-00 and 20-01 under SV
mode.
. Tune the high-speed ASR PI gain 20-00~20-01 at frequency reference, higher
than 20-16. P gain and integral time are similar to the 20-00 and 20-01 under SV
mode.
. In general, the low-speed ASR gain and the high-speed gain can be the same.
When the system shock occurs because of the mechanical resonance and other
factors, you can tune the low-speed or high-speed gain for improvement.
If tuning ASR PI gain 20-00~20-03 can not improve the problem of system
response, reduce the low-pass filter time constant 20-13~20-14 to increase the
bandwidth of the feedback system and re-tune ASR gain.
. Tune low-speed low-pass filter time constant 20-14 at frequency reference, lower
than 20-15.
. Tune high-speed low-pass filter time constant 20-13 at frequency reference,
higher than 20-16.
. Increasing the low-pass filter time constant can limit the bandwidth of the speed
feedback system and reduce the response of the whole system. Thus the speed
feedback signal interference can be reduced, but it results in poor response to the
momentary load. If the load is not significantly different and the steady operation is
required, you can use this way for tuning. The low bandwidth of the speed
feedback must be supported by the low gain of ASR to ensure the steady
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