Fine-Tuning Closed Loop Vector Control; Fine-Tuning Open Loop Vector Control For Pm Motors - YASKAWA A1000 Series Technical Manual

Problem
• Poor motor torque and speed
response
• Motor hunting and oscillation
Poor speed response and stability
Poor speed precision
Poor speed precision during
regenerative operation
• Motor noise
• Motor hunting and oscillation occur
at speeds below 10 Hz
• Poor motor torque at low speeds
• Poor speed response
• Motor instability at start
<1> Default setting value is dependent on parameter A1-02, Control Method Selection, and o2-04, Drive Model Selection.
<2> Default settings change when the Control Method is changed (A1-02) or a different V/f pattern is selected using parameter E1-03.
When using OLV, leave the torque compensation gain (C4-01) at its default setting of 1.00.

◆ Fine-Tuning Closed Loop Vector Control

Problem
• Poor torque or speed response
• Motor hunting and oscillation
• Poor torque or speed response
• Motor hunting and oscillation
Trouble maintaining the ASR
proportional gain or the integral time at
the low or high end of the speed range
Motor hunting and oscillation
• Motor noise
• Control motor hunting and oscillation
occur at speeds below 3 Hz.
Overshoot or undershoot when the
speed changes with high inertia load.
<1> Refer to C5: Automatic Speed Regulator (ASR) on page 171

◆ Fine-Tuning Open Loop Vector Control for PM Motors

Problem
Motor performance not as desired
Poor motor torque and speed response
YASKAWA ELECTRIC SIEP C710616 27C YASKAWA AC Drive A1000 Technical Manual
Parameter No.
• To improve motor torque speed response, gradually reduce this setting by
2 ms and check the performance.
Torque Compensation Primary • If motor hunting and oscillation occur, gradually increase this setting by
Delay Time Constant 1 (C4-02) 10 ms.
Note: Ensure that C4-02 ≤ C4-06. When making adjustments to C4-02,
increase the AFR time constant (n2-02) proportionally.
Slip Compensation Primary • If response is slow, gradually decrease the setting by 10 ms.
Delay Time Constant (C3-02) • If speed is unstable, gradually increase the setting by 10 ms.
• If speed is too slow, gradually increase the setting by 0.1 ms.
Slip Compensation Gain (C3-01)
• If speed is too fast, gradually decrease the setting by 0.1 ms.
Slip Compensation Selection Enable slip compensation during regeneration by setting parameter C3-04
During Regeneration (C3-04) = 1.
• If there is too much motor noise, the carrier frequency is too low.
• If motor hunting and oscillation occur at low speeds, reduce the carrier
Carrier Frequency Selection
frequency.
(C6-02)
Note: The default setting for the carrier frequency depends on the drive
capacity (o2-04) and Duty Selection (C6-01).
• If motor torque and speed response are too slow, increase the setting.
Mid Output Voltage A (E1-08) • If the motor exhibits excessive instability at start-up, reduce the setting.
Minimum Output Voltage Note: The default value is for 200 V class units. Double this value when
(E1-10) using a 400 V class drive. When working with a relatively light load,
increasing this value too much can result in overtorque.
Table 6.3 Parameters for Fine-Tuning the Performance in CLV
Parameter No.
ASR Proportional Gain 1 • If motor torque and speed response are too slow, gradually increase the
(C5-01) ASR gain setting by 5.
ASR Proportional Gain 2 • If motor hunting and oscillation occur, decrease the setting.
(C5-03) • Parameter C5-03 needs to be adjusted only if C5-05 > 0.
• Perform ASR Auto-Tuning if possible
<1>
ASR Integral Time 1 (C5-02) • If motor torque and speed response are too slow, decrease the setting.
ASR Integral Time 2 (C5-04) • If motor hunting and oscillation occur, increase the setting.
• Parameter C5-04 needs to be adjusted only if C5-05 > 0.
<1>
ASR Gain Switching Frequency Have the drive switch between two different ASR proportional gain and
(C5-07) integral time settings based on the output frequency.
<1>
• If motor torque and speed response are too slow, gradually decrease the
ASR Primary Delay Time
setting by 0.01.
Constant (C5-06)
<1>
• If the load is less rigid and subject to oscillation, increase this setting.
• If there is too much motor noise, the carrier frequency is too low.
• If motor hunting and oscillation occur at low speeds, reduce the carrier
Carrier Frequency Selection
frequency.
(C6-02)
Note: The default setting for the carrier frequency depends on the drive
capacity (o2-04) and Drive Duty Selection (C6-01).
Enable Feed Forward by setting parameter n5-01 = 1 and perform Inertia
Feed Forward Control (n5-01)
Tuning. If Inertia Tuning is not possible, set parameters C5-17, C5-18, and
Inertia Tuning (T1-01 = 8)
n5-03 manually.
Table 6.4 Parameters for Fine-Tuning Performance in OLV/PM
Parameter No.
• Check the settings for base and maximum frequency in the E1-
parameters
Motor parameters • Check E5-
(E1- , E5- ) correctly. Be careful not to enter line to line data where single-phase data
is required, and vice versa.
• Perform Auto-Tuning.
Load Inertia Ratio (n8-55) Adjust parameter n8-55 to meet the load inertia ratio of the machine.
Speed Feedback Detection Gain
Increase the speed feedback detection gain (n8-45).
(n8-45)
Torque Compensation (C4-01) Enable torque compensation.
6.2 Motor Performance Fine-Tuning
Corrective Action
Corrective Action
for details on Automatic Speed Regulator (ASR).
Corrective Action
parameters and make sure all motor data has been set
Suggested
Default
Setting
20 ms 20 to 100 ms
<1> <1>
200 ms 100 to 500 ms
<2>
1.0 0.5 to 1.5
<2>
0 1
1 (2 kHz) 0 to max. setting
E1-08: 11.0 V
Default setting
<2>
E1-10: 2.0 V ±2 V
<2>
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 the max.
1
setting
0 1
6
Suggested
Default
Setting
- -
Close to the actual
0
load inertia ratio
Increase in
0.8
increments of 0.05
0 1
297