Gain Adjustment Of The Speed Loop - Delta ASDA-B3 Series User Manual

ASDA-B3

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 manually or by using the multiple
gain adjustment modes.
Manual: manually set the parameters with all auto or auxiliary functions disabled.
Gain adjustment mode: refer to Chapter 5 Tuning.
Manual mode
When you set P2.032 to 0, set the speed control gain (P2.004), speed integral compensation
(P2.006), and speed feed forward gain (P2.007) as well. The parameter descriptions are as
follows.
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
reduces the steady-state error. However, the phase margin becomes smaller. If you set this gain
too high, it reduces the system stability.
Speed feed forward gain: the higher the gain, the smaller 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 for
speed control gain
P2.005
Gain switching
P2.027
Current
command
Speed detection filter
and jitter suppression
P2.049
Speed integral compensation
System inertia J
(1+P1.037)*JM
+
+
Load inertia
Gain
ratio
switching
P1.037
P2.027
+
+
Motor inertia
JM
Torque
Torque constant
command
reciprocal
1/KT
Speed
observer
Function
Speed control gain
Speed feed forward gain
Control Mode
6
Encoder
6-21