阶梯式限速

<p><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">采用阶梯式进行限速，上下行限定参数单独设置，可 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">根据实际应用进行调整。当检测的负载（开环输出电 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">流、闭环输出转矩）超过限制值时，运行频率就被限 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">制在设定的限制频率下。 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">例如：当电机上行时，检测负载</span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,0)">&gt;</span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P91.18 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">上行负载限 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">幅 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,0)">1</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">，则频率被限定为 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P91.19 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">上行限制频率 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,0)">1</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">（或 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">当前设定频率</span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,0)">&lt;</span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P91.19</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">，则运行频率为当前设定频 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">率）；当检测负载</span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,0)">&gt;</span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P91.20 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">上行负载限幅 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,0)">2</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">（且小于 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P91.18 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">上行负载限幅值 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,0)">1</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">）时，则频率被限定为 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P91.21 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">上行限制频率 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,0)">2</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">。 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">由于负载在开闭环状态下的检测值有偏差，因此在开 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">闭环切换过程中，负载限幅值可以通过 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P91.24 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">进行 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">微调，</span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P91.24 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">对上行负载限幅值（</span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P91.18</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">、</span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P91.20</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">、 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P91.22</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">）均有效。 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">例如：带同一负载上行测试负载，若闭环时 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P19.11</span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,0)">=50.0%</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">，开环时 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P19.11</span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,0)">=55.0%</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">，二者差值 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">为 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,0)">5%</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">；在实际使用中，在设置好闭环参数后，若需 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">要切换到开环，只需要设置 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P91.24 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">为 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,0)">5.0%</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">（闭环 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">时设置为 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,0)">0</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">）进行微调即可，不需要再修改 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P91.18</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">、 </span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P91.20</span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">、</span><span style=";font-size:10px;font-family:Arial;color:rgb(0,0,255)">P91.22 </span><span style=";font-size:10px;font-family:宋体;color:rgb(0,0,0)">的值。 </span></p>