Speed Feed Forward Control, Model Adaptive Speed Control - Mitsubishi Electric FR-A800 Series Instruction Manual

5.3.7
Sensorless Vector Sensorless Sensorless Vector Vector
• 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.
828
Model speed control gain
G224
Speed feed forward
877
control/model adaptive
G220
speed control selection
878
Speed feed forward filter
G221
879 Speed feed forward torque
G222 limit
880
Load inertia ratio
C114
881
Speed feed forward gain
G223
1119 Model speed control gain
G262 (per-unit system)
1121 Per-unit speed control
G260 reference frequency
*1 For the FR-A820-03160(55K) or lower, and FR-A840-01800(55K) or lower.
*2 For the FR-A820-03800(75K) or higher, and FR-A840-02160(75K) or higher.
• 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.
Speed command
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Speed feed forward control, model adaptive speed
control
PM PM PM
Initial
Name
value
60%
0
0 s
150%
7-fold
0%
9999
120 Hz
60 Hz
[Block diagram]
Load inertia ratio
.
J s
[Pr. 880]
+
-
Actual speed controller
5.3 Speed control under Real sensorless vector control, vector control, PM sensorless vector control
search engine
Setting
range
0 to 1000% Set the gain for the model speed controller.
0 Perform normal speed control.
1 Perform speed feed forward control.
2 Model adaptive speed control becomes valid.
Set the primary delay filter for the result of the speed feed forward
0 to 1 s
calculated from the speed command and load inertia ratio.
0 to 400% Set a maximum limit for the speed feed forward torque.
0 to 200-fold Set the load inertia ratio for the motor.
0 to 1000% Set the calculation result for speed feed forward as the gain.
0 to 300 Set the gain for the model speed controller in the per-unit system.
9999 The Pr.828 setting is applied to the operation.
*1
Set the speed at 100% when setting speed control P gain or model
0 to 400 Hz
speed control gain in the per-unit system.
*2
Speed feed forward control
[Pr. 878]
[Pr. 879]
Speed feed Speed feed
forward
forward torque
filter
limit
Speed feed
forward
gain
[Pr. 881]
Speed
control
P gain 1
[Pr. 820]
Speed control
integral time 1
[Pr. 821]
Description
page 254.)
+
+
Torque control
+
Speed estimator
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5. PARAMETERS