C5: Automatic Speed Regulator (Asr) - YASKAWA AC Drive-A1000 Technical Manual

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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.
The figures below illustrate ASR functionality:
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.
Note: PM motor control modes are not available on 600 V class drives, CIMR-Ao5oooooooo.
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 234
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
Perform the following steps for adjusting ASR parameters:
1.
Run the motor at minimum speed and increase ASR gain 2 (C5-03) as much as possible without oscillation.
2.
Run the motor at minimum speed and decrease ASR integral time 2 (C5-04) as much as possible without oscillation.
3.
Check the output current monitor to make sure that the output current is less than 50% of the drive rated current. If
the value is higher than 50%, decrease C5-03 and increase C5-04.
4.
Run the motor at maximum speed and increase ASR gain 1 (C5-01) as much as possible without oscillations.
5.
Run the motor at maximum speed and decrease ASR integral time 1 (C5-02) as much as possible without oscillations.
6.
If higher speed precision and faster response during acceleration or deceleration are required, enable integral control
during accel/decel by setting parameter C5-12 to 1. Change the speed and make sure no over/undershoot occurs.
Adjusting the ASR Parameters in CLV, AOLV/PM, and CLV/PM
Note: PM motor control modes are not available on 600 V class drives, CIMR-Ao5oooooooo.
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 Technical Manual
+
-
Change
rate
limiter
Figure 5.34 Speed Control Block Diagram for V/f Control with PG
C5-01, C5-03
+
P
-
I
C5-02, C5-04
<1>
Figure 5.35 Speed Control Block Diagram for CLV, AOLV/PM and CLV/PM
+
P
+
I
C5-01
C5-03
C5-02, C5-04
Torque limits
+
Primary
filter
+
I
C5-06
limit
(C5-10)
L7-01 to L7-04
C5-08
Output frequency
+
+
Limit
ASR limit
C5-05
Torque reference
for details on setting up analog output
on page 163.
5.3 C: Tuning
5
161