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6F3A4768
5.4.2.2 Speed control gain switching (option)
The speed control response is determined relative to load GD
2
. Therefore, as load GD
2
fluctuates a great deal
(such as winder), the speed response changes (as GD
2
grows with the same gain, the response slows down).
For such a case, this equipment is provided with a function to keep the operation stable by using different speed
control gains.
a) 4-stage switching
In this mode, the equipment is operated by switching 4 sets of speed control gains which were preset
through an external signal.
$ASPR_G_SEL:
Set 1 when switching speed control gain.
ASPR_G_NO:
Input the speed control gain set number. (0 to 3)
If there is any difference between the speed reference and actual speed, a shock is perceived at the
moment the gain is switched.
Try to switch the gain in a stationary state (when the speed is stable).
b) Continuous gain
This function changes the gain continuously through an external signal.
$ASPR_G_SEL:
Set 2 for continues switching of speed control gain.
ASPR_GAIN_EXT: Externally changed speed control gain. Gain 1 with 100.
ASPR_GAIN_EXT is limited to a value between 100 and 30000. In other words, the gain control function
operates in a direction in which the gain is increased. This function is used by presetting a gain when
GD
2
is a minimum and adjusting the gain externally so that it is increased with respect to the preset gain.
(1) Simulator following control (SFC, option)
When the machine axes resonance, the simulator following control (SFC) function is available.
a) Simulator
With the SFC, a speed control output signal is input and an acceleration torque signal (simulation) is
obtained by the ACR simulator. This signal is input to the inertia simulator to obtain an estimated speed
signal.
ACR simulator:
First order lag operation
Inertia simulator:
Integral operation
b) Deviation
Calculates the deviation between the above estimated speed signal and actual speed signal.
c) Proportion
The above deviation signal is subjected to gain operation processing and added to the speed control
result. This proportional output is effective for the improvement of recovery response to an impact load
generated by biting of rolling material.
In normal speed control, the speed control output becomes a (load torque
+
acceleration torque)
reference. Adding SFC control makes the load torque signal an output from the SFC proportional term,
while the speed control output becomes equivalent to the acceleration/deceleration torque reference.
Because of this, the acceleration torque signal is obtained by the ACR simulator as shown in a) above.
d) Differentiation
The above deviation signal is differentiated and added to the torque reference.
This signal is effective for vibration control.
When the SFC function is not used, set each gain of SFC to 0.
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