C5: Automatic Speed Regulator (Asr) - YASKAWA U1000 Technical Manual

5.3 C: Tuning
No.
C4-04
n C4-05: Torque Compensation Time Constant (OLV)
Sets the time constant for applying the torque compensation at start that is set to C4-03 and C4-04.
No.
C4-05
n C4-07: Motor 2 Torque Compensation Gain
Functions for motor 2 the same way that C4-01 functions for motor 1.
Refer to C3-01: Slip Compensation Gain on page 224
No.
C4-07 Motor 2 Torque Compensation Gain
u

C5: Automatic Speed Regulator (ASR)

The ASR controls the motor speed in V/f w/PG, CLV, AOLV/PM, and CLV/PM control modes and adjusts the output frequency
(V/f w/PG) or torque reference (CLV, AOLV/PM, CLV/PM) to minimize the difference between frequency reference and
actual motor speed.
Figure 5.36 and Figure 5.37
Frequency
reference
Detected speed
Frequency
reference
Detected speed
<1> AOLV/PM estimates the speed using the motor model and does not require an encoder feedback signal.
n Adjusting the ASR Parameters
Perform Auto-Tuning and set up all motor data correctly prior to adjusting ASR parameters.
Use analog output signals 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 303
functions.
Generally when tuning the ASR, optimize the ASR gain before adjusting 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
228
Parameter Name
Torque Compensation at Reverse Start
Parameter Name
Torque Compensation Time Constant
Parameter Name
illustrate ASR functionality:
+
-
Change
rate
limiter
Figure 5.36 Speed Control Block Diagram for V/f Control with PG
C5-01, C5-03
+
P
-
I
C5-02, C5-04
<1>
Figure 5.37 Speed Control Block Diagram for CLV, AOLV/PM and CLV/PM
for details on adjusting this parameter.
Setting Range
0.00 to 2.50
+
P
+
I
C5-01
C5-03
C5-02, C5-04
Torque limits
+
Primary
filter
+
I
C5-06
limit
L7-01 to L7-04
C5-08
YASKAWA ELECTRIC SIEP C710636 04D U1000 Industrial MATRIX Drive Technical Manual
Setting Range
-200.0 to 0.0%
Setting Range
0 to 200 ms
Output frequency
+
+
Limit
ASR limit
C5-05
Torque reference
for details on setting up analog output
on page 230.
Default
0.0%
Default
10 ms
Default
1.00