torque control diagram p i + + + + ÷ - current control pwm 00-17 m encoder actual frequency current...
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Torque Control diagram
P
I
+ +
+
+
÷
-
Currentcontrol
PWM00-17
M
Encoder
Actual frequency
Current feedbackWeak magnetism curve
Toquebias
07-27
No bias
According to 03-00 analog multi-function
According to multi-function to input terminals
Toque limit06-12
ASR low-pass filter 10-09
Toque limit07-32~07-35
10-21/10-22 zero speed PI10-04/10-05 middle speed PI10-06/10-07 high speed PI
10-0010-01
PI adjustor
The source of toque command can through 07-21 to select KP/communication/analog
Toque limit
Toque command filter time 07-23 s
pe
ed
/toq
ue
Mo
de
se
lec
tion
+
Speed limit command is selected by 07-24 , 00-20 or 07-25/07-26
coordinateschange
According to 07-28 toque bias
06-12 current limit06-12 current limit
06-12 current limit 06-12 current limit
Torque Limit of FOC
Quadrant 1
Quadrant 4Quadrant 3
Quadrant 2
Forward motor modeReverse generator mode
Reverse motor mode Forward generator mode
ForwardReverse
speedspeed
Positive torque
Negative torque
The minimum of the comparison result of the three layers will be torque limit
Analog terminal 03-00~02d7: positive torque limitd9: regenerative torque limit d10: positive/negative torque limit
Analog terminal 03-00~02d7: positive torque limitd10: positive/negative torque limit
Analog terminal 03-00~02d8: negative torque limitd9: regenerative torque limit d10: positive/negative torque limit
Analog terminal 03-00~02d8: negative torque limitd9: regenerative torque limit d10: positive/negative torque limit
Reverse regenerative torque Limit 07-35
Forward regenerative torque Limit 07-33
Forward motor torque Limit 07-32
Reverse motortorque Limit 07-34
Torque Control-Speed Limit Method
Method 107-24=0 Speed limit is from Pr.07-25,Pr.07-26
Torque
frequency/speed
Forward 07-25Reverse 07-26
Method 2 07-24=1 Speed limit is from Pr.00-20(Source of the frequency command )
Torque
frequency/speed
Reverse 00-20Reverse 07-26
Toque
frequency/speed
Forward 07-25Reverse 00-20
When 07-24=1,Speed limit is positive,then negative speed limit is determined by 07-26
When 07-24=1,Speed limit is negative, then positive speed limit is determined by 07-25