Fine-Tuning Closed Loop Vector Control; Fine-Tuning Open Loop Vector Control For Pm Motors - YASKAWA AC Drive-A1000 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
(n5-01)
when the speed changes
Inertia Tuning (T1-01 =
with high inertia load
8)
<1> Refer to C5: Automatic Speed Regulator (ASR) on page 161
u

Fine-Tuning Open Loop Vector Control for PM Motors

Problem
Undesirable motor Motor parameters
performance (E1-oo, E5-oo)
Load Inertia Ratio
(n8-55)
Poor motor torque and Speed Feedback
speed response Detection Gain (n8-45)
Torque Compensation
(C4-01)
Pull-In Current during
Accel/Decel (n8-51)
DC Injection Braking
Oscillation at start or the Current (b2-02), DC
motor stalls Injection Time at Start
(b2-03)
Load Inertia Ratio
(n8-55)
292
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.
Note: The default setting for the carrier frequency depends on
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.
Table 6.4 Parameters for Fine-Tuning Performance in OLV/PM
Parameter No.
• Check the settings for base and maximum frequency in the
E1-oo parameters.
• Check E5-oo parameters and set motor data correctly. Do
not enter line-to-line data where single-phase data is required,
and vice versa.
• Perform Auto-Tuning.
Adjust parameter n8-55 to meet the load inertia ratio of the
machine.
Increase the speed feedback detection gain (n8-45).
Enable torque compensation.
Increase the pull-in current in n8-51
Use DC Injection Braking at start to align the rotor. This may
cause a short reverse rotation at start.
Increase the load inertia ratio.
Corrective Action
the drive capacity (o2-04) and Drive Duty Selection
(C6-01).
for details on ASR.
Corrective Action
YASKAWA ELECTRIC SIEP C710616 31B YASKAWA AC Drive – A1000 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
2.0 kHz to max.
1
setting
0 1
Suggested
Default
Setting
- -
Close to the actual
0
load inertia ratio
Increase in
0.8
increments of 0.05
0 1
Increase in steps
50%
of 5%
b2-03 = 0.5 s
b2-02 = 50%
Increase b2-02 if
b2-03 = 0.0 s
needed
Close to the actual
0
load inertia ratio