Delta ASDA-B2-F Series User Manual

Contents

Control Mode of Operation ASDA-B2-F6-14 September, 201566.3.5 Gain Adjustment of Speed LoopHere introduces the function of speed control unit. The following shows its structure:Speed Control UnitGain Switchingand SwitchingSelectionP2-27TorqueCommand+-++ +Speed DetectionFilterP2-49Torque ConstantReciprocal1/KTCurrentCommandSpeedEstimatorMotor InertiaJMSystem Inertia J(1+P1-37)*JMSwitching Rateof Speed LoopGainP2-05IntegratorSpeed IntegralCompensationP2-06++Speed FeedForward GainP2-07DifferentiatorInertia Ratio andLoad Weight Ratioto Servo MotorP1-37+Gain Switching andSwitching SelectionP2-27Speed LoopGainP2-04EncoderFigure 6-8 Structure of Speed Loop Gain AdjustmentMany kinds of gain in speed control unit are adjustable. Two adjustment ways (manual and auto)are provided for selection.Manual: All parameters are set by users and all auto or auxiliary functions will be disabled in thismode.Auto: General load inertia estimation is provided. It can adjust the parameter automatically. Itsframework is divided into PI auto gain adjustment and PDFF auto gain adjustment.Parameter P2-32 can be used to select the gain tuning method. (Please refer to Chapter 7 fordetailed description):Parameter Abbr. FunctionP2-32 AUT2 Tuning Mode SelectionManual ModeWhen P2-32 is set to 0, users can define speed loop gain (P2-04), speed integral compensation(P2-06) and speed feed forward gain (P2-07). Function of each parameter is as the followings:Speed loop gain: Increasing speed loop gain can enhance the response bandwidth of speedloop.Speed integral compensation: Increasing the speed integral compensation can increase thelow-frequency stiffness of speed loop and reduce the steady-state error as well as the phasemargin. However, the over high integral gain will cause the instability of the system.Speed feed forward gain: It can decrease the deviation of phase delay.