Speed Control (Asr) Structure - YASKAWA CIMR-G7U Technical Manual

A timing chart for switching between speed and torque control is shown in the following figure.
Speed/torque change signal
(terminal S8 input)
Run command
Control mode
Terminal A1 input
Terminal A3 input


Speed Control (ASR) Structure

Speed control (ASR) during vector control adjusts the torque reference so that the deviation between the
speed reference and the estimated speed (PG feedback or speed estimator) is 0. Speed control (ASR) during V/
f control with a PG adjusts the output frequency so that the deviation between the speed reference and the esti-
mated speed (PG feedback or speed estimator) is 0. The following block diagram shows the structure of the
speed control for vector or V/f control with a PG.
Frequency
reference
Detected speed
Estimated speed
Frequency
reference
Detected speed
-128
6
CLOSED
OPEN
Run
Stop
Speed Torque
Speed limit
Speed
reference
Torque limit
Torque
reference
Fig 6.66 Speed/Torque Control Switching Time Chart.
C5-0, C5-03
+
P

I
C5-02, C5-04
Speed Control Block Diagram for Vector Control
+

Change
P
rate
limiter
C5-01
C5-03
Speed Control Block Diagram for V/f Control with a PG
Fig 6.67 Speed Control Block Diagrams
CLOSED
OPEN
Speed Torque
Speed limit
Speed
reference
Torque limit
Torque
reference
Torque limits
+
Primary
filter
+
I
C5-06
limit
L7-01 to L7-04
C5-08
+
+
I
C5-05
C5-02, C5-04
Speed (decel to stop)
Torque reference
Output frequency
+
+
Limit