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ASDA-A3

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Control Mode

6.3.6 Gain adjustment of the speed loop

The structure of the Speed control unit is shown in the following diagram.

Speed control unit

Differentiator

+

+

-

Integrator

Speed

integral

compensation

P2.006

Speed feed

forward gain

P2.007

Speed

control gain

+

P2.004

Rate of change for

speed control gain

P2.005

+

+

System inertia J

(1+P1.037)*JM

Gain

switching

P2.027

Load inertia

ratio

P1.037

+

+

Gain

switching

P2.027

Current

command

Torque constant

reciprocal

1/KT

Motor inertia

JM

Torque

command

Speed detection filter

and jitter suppression

P2.049

Speed

observer

Encoder

6

In the Speed control unit, you can adjust different gain parameters. You can adjust the gain

manually or use the 5 gain adjustment modes provided.

Manual: manually set the parameters, and all auto or auxiliary functions are disabled.

Gain adjustment mode: refer to Chapter 5 Tuning.

Manual mode

When you set P2.032 to 0, you can set the speed control gain (P2.004), speed integral

compensation (P2.006), and speed feed forward gain (P2.007).

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 is smaller. Setting this gain too high

reduces the system stability.

Speed feed forward gain: reduces the deviation of phase delay.

Refer to Chapter 8 for detailed descriptions of the relevant parameters.

Parameter

P2.004

P2.006

P2.007

Function

Speed control gain (KVP)

Speed integral compensation (KVI)

Speed feed forward gain (KVF)

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