Gain Adjustment Of The Speed Loop - Delta ASDA-A3 Series User Manual

ASDA-A3

6.3.6 Gain adjustment of the speed loop

The structure of the speed control unit is shown in the following diagram:
Differentiator
+
-
Integrator
Speed integral
compensation
P2.006
In the speed control unit, you can adjust different types of gain. You can adjust the gain
manually or use the two gain adjustment modes provided.
Manual: you need to manually set the parameters, and all auto or auxiliary functions are
disabled.
Gain adjustment mode: refer to Chapter 5 Tuning.
Manual mode
When you set P2.032 to 0, you also set the speed control gain (P2.004), speed integral
compensation (P2.006), and speed feed forward gain (P2.007).
Speed control gain: the higher the gain, the larger the bandwidth for the speed loop response.
Speed integral compensation: increasing this gain increases the low frequency rigidity and
Speed feed forward gain: reduces the deviation of phase delay.
Refer to Chapter 8 for detailed descriptions of the relevant parameters.
Parameter
P2.004
P2.006
P2.007
Speed control unit
Speed feed
forward gain
P2.007
Speed control
gain
+
P2.004
+
Rate of
change
P2.005
Gain switching
P2.027
Current
command
Low-pass filter
P2.049
reduces the steady-state error. However, the phase margin is
smaller. If you set this gain too high, you reduce the system
stability.
Speed control gain (KVP)
Speed integral compensation (KVI)
Speed feed forward gain (KVF)
System inertia J
(1+P1.037)*JM
+
+
Gain
Load inertia
switching
ratio
P2.027
P1.037
Motor inertia
JM
Torque
Torque constant
command
reciprocal
1/KT
Speed
estimator
Function
Operation Mode
+
+
Encoder
6-21
6