Delta ASD-A2R-0121 Series, Руководство пользователя

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Chapter 6 Control Mode of Operation

ASDA-A2R Series
Revision December, 2014 6-11
6.2.8 Gain Adjustment of Position Loop
Before setting the position control unit, users have to manually (P2-32) complete the
setting of speed control unit since the speed loop is included in position loop. Then, set
the proportional gain (parameter P2-00) and feed forward gain (parameter P2-02) of
position loop. Users also can use the auto mode to set the gain of speed and position
control unit automatically.
1
）
Proportional gain: Increase the gain so as to enhance the response bandwidth of
position loop.
2
）
Feed forward gain: Minimize the deviation of phase delay
The position loop bandwidth cannot exceed the speed loop bandwidth. It is suggested
that
4
fv
fp

.
fv: response bandwidth of speed loop (Hz).
KPP = 2 ×

× fp.
fp: response bandwidth of position loop (Hz).
For example, the desired position bandwidth is 20 Hz

KPP = 2 ×

× 20= 125.
Related parameters: Please refer to Chapter 8 for further information.
Parameter Abbr. Function
P2-00 KPP Position Loop Gain
P2-02 PFG Position Feed Forward Gain
When the value of proportional gain, KPP is set too big, the response bandwidth of
position loop will be increased and diminish the phase margin. And the motor rotor
rotates vibrantly in forward and reverse direction at the moment. Thus, KPP has to be
decreased until the rotor stops vibrating. When the external torque interrupts, the
over-low KPP cannot meet the demand of position deviation. In this situation, parameter
P2-02 can effectively reduce the position error.