Gain Adjustment Of Speed Loop - Delta ASD-A2-0121 Series User Manual

ASDA-A2

6.3.6 Gain Adjustment of Speed Loop

Here introduces the function of speed control unit. The following shows its structure.
Differentiator
+
-
Integrator
Speed Integral
Compensation
P2-06
Many kinds of gain in speed control unit are adjustable. Two ways, manual and auto, are provided
for selection.
Manual: All parameters are set by users and the auto or auxiliary function will be disabled in this
mode.
Auto: General load inertia estimation is provided. It adjusts the parameter automatically. Its
framework is divided into PI auto gain adjustment and PDFF auto gain adjustment.
Parameter P2-32 can be used to adjust the gain.
P2-32▲ AUT2
Operational
Interface：
Default： 0x0000
Control
Mode：
Range： 0x0000 ~ 0x0002
Speed Control Unit
Speed Feed
Forward Gain
P2-07
Propotional
Gain
+
P2-04
+
Gain Switching
P2-27
Current
Command
Low-pass Filter
P2-49
Tuning Mode Selection
Panel / Software
ALL
Unit： -
+
+
Gain Switching
Switching
P2-27
Rate
P2-05
Torque Constant
Reciprocal
1/KT
Speed
Estimator
Communication
Chapter 6 Control Mode of Operation
System Inertia J
(1+P1-37)*JM
+
+
Load Inertia
Ratio
P1-37
Motor Inertia
JM
Torque
Command
Address: 0240H
0241H
Related Section:
5.6 and 6.3.6
Encoder
6-33