Shenzhen Hpmont Technology Co., Ltd.
Chapter 6 Function Introduction
HD5L Series Controller User Manual V1.4
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63
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6.2.9
F08: Motor Vector Control Speed-loop Parameters
Ref. Code
Function Description
Setting Range [Default]
F08.00
Low speed ASR Kp
1 – 9999 [500]
F08.01
Low speed ASR KI
0 – 9999 [500]
F08.02
High speed ASR Kp
1 – 9999 [500]
F08.03
High speed ASR KI
0 – 9999 [500]
F08.04
ASR PI switching frequency 1
0.00 - 50.00 [10.00Hz]
F08.05
ASR PI switching frequency 2
0.00 - 50.00 [15.00Hz]
F08.00 - F08.05 and F08.07 confirm the PID parameters of ASR. The structure of ASR is shown in figure.
As the right figure:
•
When HD5L operates with 0 - F08.04, the PI parameters of
vector control are F08.00 and F08.01;
•
WhenHD5L operates above F08.05, the PI parameters of
vector control are F08.02 and F08.03;
•
When HD5L operates within F08.04 - F08.05, P is the linear
interpolation between F08.00 and F08.02, while I is the
linear interpolation between F08.01 and F08.03.
•
The system response can be expedited through increasing the ASR KP (F08.00, F08.02), but oscillation
may occur if the value of KP is too high.
•
The system response can be expedited through increasing the ASR KI (F08.01, F08.03), but oscillation and
high overshoot happen easily if the value of KI is too high.
•
If F08.01/F08.03 = 0 and the integral function is disabled, the speed-loop works only as a proportional
regulator.
•
Generally, adjust the KP firstly to the max. condition that the system does not vibrate, and then adjust the
KI to shorten the response time without overshoot.
•
To shorten dynamic response time during low frequency running, increase KP and KI.
F08.06
ASR integral limit
0.0 - 200.0 (F07.02) [180.0%]
It is used to limit the max. value of the vector control speed-loop integral.
F08.07
ASR differential time
0.000 - 1.000 [0.000s]
Defines the vector control speed-loop differential time.
•
Generally, it doesn’t need to set F08.07 except for expediting the dynamic response.
•
F08.07 = 0, there is no speed-loop differential.
F08.08
ASR output filter time
0.000 - 1.000 [0.008s]
It is used to filter the output of ASR regulator.
•
F08.08 = 0, the speed-loop filter is unused.
Frequency feedback
Frequency command
Error
PID
Torque limit
Torque current setting
+
-
F08.02/
F08.03
F08.04
F08.05
F08.00/
F08.01
PI parameter
Frequency
0
6