Fine-Tuning Closed Loop Vector Control - YASKAWA U1000 Technical Manual

6.2 Motor Performance Fine-Tuning
u

Fine-Tuning Closed Loop Vector Control

Problem
ASR Proportional Gain 1
• Poor torque or speed
(C5-01)
response
ASR Proportional Gain 2
• Motor hunting and
(C5-03)
oscillation
<1>
ASR Integral Time 1
• Poor torque or speed
(C5-02)
response
ASR Integral Time 2
• Motor hunting and
(C5-04)
oscillation
<1>
Difficulty maintaining the
ASR proportional gain or
ASR Gain Switching
the integral time at the low
Frequency (C5-07)
or high end of the speed
range
ASR Primary Delay
Motor hunting and
Time Constant (C5-06)
oscillation
<1>
• Motor noise
Carrier Frequency
• Control motor hunting
Selection (C6-02)
and oscillation occur at
speeds below 3 Hz
Feed Forward Control
Overshoot or undershoot
Selection (n5-01)
when the speed changes
Inertia Tuning
with high inertia load
(T1-01 = 8)
<1> Refer to C5: Automatic Speed Regulator (ASR) on page 228
<2> Default setting is dependent on parameter o2-04, Drive Model Selection.
<3> Setting range is 1 to 4 and F for models 2o0028 to 2o0248, 4o0011 to 4o0414.
Setting range is 0 and F for models 4o0477 to 4o0930.
358
Table 6.3 Parameters for Fine-Tuning the Performance in CLV
Parameter No.
• Gradually increase the ASR gain setting in increments of 5 if
motor torque and speed response are too slow.
• Reduce the setting if motor hunting and oscillation occur.
• Only adjust parameter C5-03 when C5-05 > 0.
• Perform ASR Auto-Tuning if possible.
• Reduce the setting if motor torque and speed response are too
slow.
• Increase the setting if motor hunting and oscillation occur.
• Only adjust parameter C5-04 when C5-05 > 0.
Switch the drive between two different ASR proportional gain and
<1>
integral time settings based on the output frequency.
• Gradually reduce the setting in 0.01 s increments if motor torque
and speed response are too slow.
• Increase the setting if the load is less rigid and subject to
oscillation.
• Increase the carrier frequency if there is too much motor noise.
• Reduce the carrier frequency if motor hunting and oscillation
occur at low speeds.
Set parameter n5-01 to 1 to Enable Feed Forward then perform
Inertia Tuning. Manually set parameters C5-17, C5-18, and n5-03
if Inertia Tuning is not possible.
Corrective Action
for details on ASR.
YASKAWA ELECTRIC SIEP C710636 04D U1000 Industrial MATRIX Drive Technical Manual
Suggested
Default
Setting
20.00 10.00 to 50.00
0.500 s 0.300 to 1.000 s
0.0 to max output
0.0 Hz
frequency
0.004 s 0.004 to 0.020 s
1 (4 kHz)
<3>
0 to 4, F
<2>
0 1