Delta Electronics ASDA-B Series manual Structure of Speed Control Mode, Basic Structure

Chapter 6 Control Modes of OperationASDA-B Series

NOTE

1)In speed control mode, if the users want to adjust analog speed input offset value, please refer to parameter 4-22 for the operation.

6.3.2 Structure of Speed Control Mode

Basic Structure:

Speed Command

Speed Command

Processing

Speed

Estimator

Speed Control

Block Diagram

Resonant Suppression

Block Diagram

Torque Limiter

Current Loop

In the figure above, the speed command processing is used to select the command source of speed control according to chapter 6.3.1, including proportional gain (P1-40) and S-curve filter smoothing strategy of speed control. The speed control block diagram is used to manage the gain parameters of the servo drive and calculate the current input provided to motor instantaneously. The resonance suppression block diagram is used to suppress the resonance of mechanical system.

The function and structure of speed command processing is shown as the figure below:

Speed Control Block Diagram

Analog

Command

A/D

Converter

Proportional Gain P1-40

Control Mode Selection: S mode / Sz mode P1-01

Internal Parameter

P1-09

P1-10

P1-11

SPD0,

SPD1

Low-pass

Filter P1-06

S-curve

Filter

P1-34

P1-35

P1-36

6-10 Revision January, 2009