Speed Feed Forward Control - Mitsubishi FR-A800 Instruction Manual

Speed control under Real sensorless vector control, vector control, PM sensorless vector
control
5.3.7
Speed feed forward control and model adaptive
speed control
• Speed feed forward control or model adaptive speed control can be selected using parameter settings.
Under speed feed forward control, the motor trackability for speed command changes can be improved.
Under model adaptive speed control, the speed trackability and the response level to motor external disturbance
torque can be adjusted individually.
Pr. Name
828 Model speed control
G224 gain
Speed feed forward
877
control/model adaptive
G220
speed control selection
878 Speed feed forward
G221 filter
879 Speed feed forward
G222 torque limit
880
Load inertia ratio
C114
881 Speed feed forward
G223 gain
1119 Model speed control
G262 gain (per-unit system)
1121 Per-unit speed control
G260 reference frequency

The value for the FR-A820-03160(55K) or lower and FR-A840-01800(55K) or lower.

The value for the FR-A820-03800(75K) or higher and FR-A840-02160(75K) or higher.
POINT POINT
• When using model adaptive speed control, use the data obtained from the easy gain tuning for Pr.828 Model speed control
gain setting. Make the setting with easy gain tuning (at the same time). (Refer to
Speed feed forward control (Pr.877 = "1")
• When the load inertia ratio is set in Pr.880, the required torque for the set inertia is calculated according to the acceleration
and deceleration commands, and the torque is generated quickly.
• When the speed feed forward gain is 100%, the calculation result for speed feed forward is applied as is.
• If the speed command changes suddenly, the torque is increased by the speed feed forward calculation. The maximum
limit for the speed feed forward torque is set in Pr.879.
• The speed feed forward result can also be lessened with a primary delay filter in Pr.878.
[Block diagram]
Speed command
200
PARAMETERS
Sensorless Sensorless Vector Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless
Initial Setting
value range
60% 0 to 1000%
0
0 1
2
0 s 0 to 1 s
150% 0 to 400%
7-fold 0 to 200-fold
0% 0 to 1000%
0 to 300
9999
9999
120 Hz

0 to 400 Hz
60 Hz


Speed feed forward control

Speed feed
forward torque
Load inertia ratio
Speed feed
.
forward
J s
gain
[Pr. 880]
[Pr. 881]
Speed
+
control
P gain 1
-
[Pr. 820]
Actual speed controller
Vector Vector PM PM PM
Set the gain for the model speed controller.
Perform normal speed control.
Perform speed feed forward control.
Model adaptive speed control becomes valid.
Set the primary delay filter for the result of the speed feed forward
calculated from the speed command and load inertia ratio.
Set a maximum limit for the speed feed forward torque.
Set the load inertia ratio for the motor.
Set the calculation result for speed feed forward as the gain.
Set the gain for the model speed controller in the per-unit system.
The Pr.828 setting is applied to the operation.
Set the speed at 100% when setting speed control P gain or
model speed control gain in the per-unit system.
[Pr. 878]
[Pr. 879]
Speed feed
forward
filter
limit
+
+
+
Speed control
integral time 1
[Pr. 821]
Speed estimator
Description
page 192.)
Torque control
M