C5: Speed Control Loop - YASKAWA L1000A Technical Manual

◆ C5: Speed Control Loop

The Speed Control Loop controls the motor speed in CLV and CLV/PM control modes. It adjusts torque reference in
order to minimize the difference between speed reference and actual motor speed.
Figure 5.10
Speed reference
Detected speed
■
Adjusting the Speed Control Loop Parameters
Perform Auto-Tuning and set up all motor data correctly prior to adjusting Speed Control Loop parameters.
Analog output signals should be used to monitor the speed reference after softstarter (U1-16) and the motor speed (U1-
05) when adjusting the Speed Control Loop. Refer to
setting up analog output functions.
Generally when tuning the Speed Control Loop, first optimize the Speed Control Loop gain, then adjust the integral time
settings. Always make adjustments with the load connected to the motor.
The drive provides three different gain and integral time settings for the speed loop. They are automatically switched over
if the switching speed in parameter C5-07 is set larger than 0% (default: 0% for CLV, 2% for CLV/PM). If no switching
speed is defined (C5-07 = 0) the drive will use one set of speed loop parameters only (C5-01/02).
However, in order to achieve adequate performance in all sections of a trip, for the most installations it will be necessary
to use two or all three sets of speed loop settings.
Additional Speed loop settings are provided for Position Lock. Those can be used to prevent rollback especially in
gearless applications.
Also refer to C5-01, C5-03, C5-13 / C5-02, C5-04, C5-14: Speed Control Loop Proportional Gain 1, 2, 3 / Speed
Control Loop Integral Time 1, 2, 3 on page
Perform the following steps for adjusting Speed Control Loop parameters:
1.
Check parameter C5-07 and set a speed loop setting switching point. For CLV/PM the drive is preset to 2%. For
CLV set C5-07 between 8~10%.
2.
Start a trip and check for any problems like rollback, vibration, overshoot, etc.
3.
Adjust C5-19/20 in order to solve rollback problems During Position Lock right before the motor starts
accelerating. Increase C5-19, then shorten C5-20 if the motor rolls back right after the brake releases. Set them
in the opposite way if vibration occurs. If the rollback can not be eliminated by setting C5-19/10, refer to
parameters S3-01/02 (Position Lock Gains at Start).
4.
Adjust C5-03/04 in order to improve the performance at start after Position Lock has been finished. Increase C5-
03, then shorten C5-04 if the speed response is slow. Set them in the opposite way if vibration occurs.
5.
Adjust C5-01/02 in order to solve problems that occur at speeds higher than C5-07. Increase C5-01, then shorten
C5-02 if overshoot when reaching the top speed occurs. Set them in the opposite way if vibration occurs.
6.
Adjust C5-13/14 in order to improve the stopping behavior. Increase C5-13, then shorten C5-14 if the landing
accuracy is poor. Adjust them in the opposite way if vibrations occur. If problems can not be resolved by setting
C5-13/14, refer to parameter S3-03 Position Lock Gain at Stop). Note that C5-13/14 settings will not be effective
if the speed reference is set from an analog input.
7.
Repeat steps 2 to 6 until the desired riding comfort has been reached. Also refer to
Problems on page
YASKAWA ELECTRIC SIEP C710616 38A YASKAWA AC Drive L1000A Technical Manual
C5-01, C5-03, C5-13, C5-19
+
P
-
I
limit
C5-02, C5-04, C5-08
C5-14, C5-20
Figure 5.10 Speed Control Block Diagram
H4: Multi-Function Analog Outputs on page 200
162.
137.
Torque limits
+
Primary
filter
+
I
C5-06
L7-01 to L7-04
5.3 C: Tuning
Torque reference
common_TMonly
for details on
Riding Comfort Related
5
161