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[4] APR Control
You can control the motor by a pulse
train input on SJ300 with SJ-FB.
Make STAT terminal ON to get
started. (Inverter starts to accept pulse
train input after STAT is turned ON.)
SJ300 controls the motor based on the pulse train input to SAP, SAN, SBP, SBN which are 90 degrees phase
difference of A, B signals. Please see below for the simplified block diagram of the control.
G1F
Pulse train
input
+
D/N
*
-
G1r
<Explanation of the performance>
If the control system is in a stable state, it
performs like figures shown right. Feedback will
st
be 1
order lag against the reference because of
PI control. (Ignoring the Overshoot.)
Making STAT signal ON while there is a
continuous pulse train input result in a constant
increasing of *. ( * will not be a step change
because it is a number of pulses.) In this case
feedback
will be fixed according to the APR
response during t1 period.
In t2 period, feedback
APR and therefore it will be in a constant
increasing mode together with the reference ( *).
Therefore,
(=G1 ( *- )), which is the output or APR block will be in a increasing (not a constant increasing)
mode during t1 period and will be stable in t2 period.
ASR block receives the * and controls the system to make (= * - ) to be 0. (see above figure.) and output
of this block will be forwarded to next block.
© 2002 Hitachi America, Ltd.
A, B phase pulse train input
(90 degrees of phase difference)
0
0
0
0
+
*
+
+
G1
-
Position FB
Speed FB
G2r
APR
Fig 7. Simplified control block diagram for V2 control
will be stabilized by
Fig 6. Idea of APR control
i*
+
G2
G3
-
i
Current FB
G3r
ASR
Position
*
t1
Fig 8. Image of position and speed deviation
17
SJ300
EP5
EG5
SAP
EAP
SAN
EAN
SBP
EBP
SBN
EBN
EZP
P24
EZN
STAT
Voltage
control
ACR
Speed
*
t
t2
M
Encoder
Encoder
Motor
*
t
t2
t1
t3
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