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6F3A4768
5.4.2.4 Speed Control with RMFC Control (ASRR)
Fig. 5.4.5 shows the speed control block with RMFC control (ASRR).
The speed reference signal SP_R and speed feedback SP_F are entered with a weight of 25000 count/100%.
The difference between SP_R and SP_F is proportionally integrated and output. After this signal is processed
with a speed filter and torque limit, the torque reference SFC_T_R is output with a weight of 4000 count/100%.
Control response is performed by the following parameter setting:
$ASPR_A:
Anti-overshoot gain
If overshoot is large, it can be suppressed by setting a large value.
$ASPR_AT: Simultaneous constant
Regulate so as to reduce overshoot.
$ASPR_P:
Proportional gain
Set by GD
2
and target response
$ASPR_W1: Response target
Set target response in the unit of 0.01rad/s.
Note that, if machine GD
2
is excessively larger than the motor GD
2
or if there is shaft resonance, control
response may not be set high.
When RMFC control is used, anti-overshoot gain $ASPR_A and simultaneous constant $ASPR_AT are not
used, so set 0 to both $ASPR_A and $ASPR_AT.
Speed
detection,
Section
5.4.6, SP_F
Speed
reference,
Section
5.4.1, SP_R
+
-
+
+
<Speed control>
$ASPR_P: Proportional gain
$ASPR_W1: Response target
$FLT_T_R
<Filter>
<Integral>
$FLT_SFC: ACR simulator
$OP_SFC_J: Inertia
<Inertia>
<Anti-overshoot>
<ACR>
SFC (option) simulator
$OP_SFC_P: Proportional
$OP_SFC_D: Differential
$OP_SFC_A: Anti-overshoot
$LMT_SFC_D: Differential limit
Limit
calculation,
Section
5.4.3.2
<Torque limit>
SFC_T_R
Section
5.4.3.1
25000/100%
4000/100%
SFC_DATA
To section
5.4.4
-
+
+
+
Speed control
gain switching
(option)
Maximum
4-level switching
$ASPR_G_SEL
<Proportional>
<Inertia>
+
-
+
-
RMFC control
$RMFC_P
$RMFC_JM
<CLC>
CLC reference
AREF2
<Proportional>
<Limit>
<Proportional>
<Differential>
Fig. 5.4.5 Speed Control (ASRR)
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