Allen-Bradley Kinetix 5100 2198-E1004-ERS, Руководство пользователя, Страница: 216 / 500

216
Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 10
Modes of Operation
When the drive is in S mode, the speed command S1 is the external analog
voltage input.
• In servo-on state, the command is selected according to the state of digital
inputs SPD0 and SPD1.
Gain Adjustment of Speed Loop
In the speed control unit, different types of gain can be adjusted. You can adjust
manually or use the three gain adjustment modes provided.
• Manual: You make all the parameter settings. Auto and auxiliary functions
are disabled.
• Gain adjustment mode: See Autotuning on page 170 .
Manual Mode
When the parameter ID217 (P2.032), Gain Adjustment Mode, is set to 0, then
you must set parameters ID189 (P2.004), Speed Proportional Gain, ID191
(P2.006), Speed Integral Gain, and ID192 (P2.007), Acceleration Feedforward
Gain. More detail about adjusting the gains is as follows:
• Speed loop gain: The higher the gain, the bigger bandwidth of speed loop
response is.
• Integral gain: Increasing this gain will increase the low frequency rigidity
and reduce the steady-state error. However, phase margin will be smaller. If
this gain is set too high, the system stability will be reduced.
• Feed forward gain: Diminish the deviation of phase delay.
Graphic to be recreated in
Adobe Illustrator and to
include ID #s.
Feed
Forward Gain
ID192 (P2.007)
Speed
Control Gain
ID189 (P2.004)
Torque Constant
Reciprocal
1/KT
Speed Control Unit
Speed Integral
Compensation
ID191 (P2.006)
Integrator
ID235 (P2.053)
Load Initiator
ID144 (P1.037)
System Inertia J
(1 + ID144/P1.037)*JM
Motor Inertia
JM
Low-pass Filter
ID232 (P2.049)
Di
ffer
entiator
Speed Estimator
Current Command
Torque Command
Encoder
Changing Rate
of Speed
Control Gain
ID190 (P2.005)
Gain switching
condition and
method selection
ID212 (P2.027)
+ + +
+
+
+
+
+
–
Gain switching
condition and
method selection
ID212 (P2.027)