5.3 C: Tuning
172 YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual
Figure 5. 36
Figure 5.36 Speed Control Block Diagram for CLV, AOLV/PM and CLV/PM
■ Adjusting the ASR Parameters
Before adjusting ASR parameters make sure all motor data have been set up correctly or Auto-Tuning has been
performed.
Analog output signals should be used to monitor the frequency reference after softstarter (U1-16) and the motor speed
(U1-05) when adjusting the ASR. Refer to H4: Multi-Function Analog Outputs on page 239 for details on setting up
analog output functions.
Generally when tuning the ASR, first optimize the ASR gain, then adjust the integral time settings. Always make
adjustments with the load connected to the motor.
Adjusting the ASR Parameters in V/f Control with PG
In V/f Control with PG, the ASR settings change between two sets of parameters depending on the motor speed as
described in C5-01, C5-03 / C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR Integral Time 1, 2 on page 173.
Perform the following steps for adjusting ASR parameters:
1.
Run the motor at minimum speed and increase ASR gain 2 (C5-03) as much as possible without oscillation.
2. Run the motor at minimum speed and decrease ASR integral time 2 (C5-04) as much as possible without
oscillation.
3. Check the output current monitor to make sure that the output current is less than 50% of the drive rated current.
If the value is higher than 50%, decrease C5-03 and increase C5-04.
4. Run the motor at maximum speed and increase ASR gain 1 (C5-01) as much as possible without oscillations.
5. Run the motor at maximum speed and decrease ASR integral time 1 (C5-02) as much as possible without
oscillations.
6. If higher speed precision and faster response during acceleration or deceleration is required, enable integral
control during accel/decel by setting parameter C5-12 to 1. Change the speed and make sure no over/
undershoot occurs.
Adjusting the ASR Parameters in CLV, AOLV/PM, and CLV/PM
In CLV, AOLV/PM, and CLV/PM the drive is pre-set to use ASR settings C5-01/02 over the whole speed range. If
required by the application, a second set of ASR parameters (C5-03/04) can be automatically activated depending on the
motor speed or by using a digital input. Also refer to C5-01, C5-03 / C5-02, C5-04: ASR Proportional Gain 1, 2 / ASR
Integral Time 1, 2 on page 173.
Perform the following steps for adjusting ASR parameters:
1.
Run the motor at zero speed and increase the ASR gain (C5-01) as much as possible without oscillation.
2. Run the motor at zero speed and decrease the ASR integral time (C5-02) as much as possible without
oscillation.
3. Run at the normal operating speed. Check for over/undershoot when changing speed and for any oscillation.
4. Should problems occur in step 3, increase the integral time and reduce the gain.
Alternatively, use different ASR settings for high and low speed. Set the values from step 1 and 2 to parameters
C5-03 and C5-04, then set an ASR switching frequency in parameter C5-07. Run the motor at a speed higher
than C5-07 and repeat step 3 while adjusting C5-01 and C5-02.
Solving Problems During ASR Setup
Use Table 5. 14 when making adjustments to ASR. Though the parameters listed below are for motor 1, the same changes
can be made to the corresponding motor 2 parameters when running a second motor.
<1> Advanced Open Loop Vector Control for PM motors estimates the speed using the motor model and does not require an encoder feedback
signal.
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