4-221
Figure 4.3.112 ASR gain setting (SLV mode)
Tune the speed control gain
During ASR gain tuning, the multi-function analog output (AO1 terminal) can be used to monitor
the output frequency and motor speed (as shown in figure 4.3.112)。
SLV mode gain tuning (20-00~20-03 , 20-09~20-18)
(1) Tune the low-speed ASR P and I gain 20-02 ~ 20-03, make sure the reference frequency is
below the value of parameter 20-15.
(2) Tune the high-speed ASR PI gain 20-00~20-01, make sure the reference frequency is above
parameter 20-16 value.
(3) Both low-speed ASR gain and the high-speed gain can be set to the same values and only
require to be adjusted in case of system instability.
(4) In case tuning of the ASR P and I gain 20-00~20-03 does not improve the system response,
reduce the low-pass filter time constant 20-13~20-14 to decrease the bandwidth of the
feedback system and re-tune the ASR gain.
(5) Tune low-speed low-pass filter time constant 20-14, make sure the reference frequency is
below parameter 20-15 value.
(6) Tune high-speed low-pass filter time constant 20-13 at frequency reference, make sure the
reference frequency is above parameter 20-16 value.
(7) Increasing the low-pass filter time constant can limit the bandwidth of the speed feedback
system and may reduce the system response. Increasing the low-pass time reduces the speed
feedback signal interference but may results in sluggish system response when the load
suddenly changes. Adjust the low-pass filter time if the load stays fairly constant during
normal operation. The low bandwidth of the speed feedback must be supported by the low
gain of ASR to ensure the stable operation.
(8) Decreasing the low-pass filter time constant may increase the bandwidth of the speed
feedback and the system response. Decreasing the low-pass time may increase the speed
feedback interference resulting in system instability when the load suddenly changes.
Decrease the low-pass filter time is a quick system response is required for rapidly changing
loads. The high bandwidth of the speed feedback allows for a relative high ASR gain.
(9) In case tuning 20-00~20-03 and the low-pass filter time constant 20-13~20-14 do not
improve the system response time, tuning the PI gain 20-09~20-12 of the speed estimator
may be required.
(10) Setting a high gain for the speed estimator (high proportion (P) gain and small integral
(I)time) increases the bandwidth of the speed feedback, but may cause speed feedback
interference resulting in system instability.
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