Gain Adjustment Of Torque Control (Pr. 824, Pr. 825, Pr. 834, Pr. 835) - Mitsubishi Electric FR-A700 Instruction Manual

Torque control by real sensorless vector control, vector control
6.4.7 Gain adjustment of torque control
(Pr. 824, Pr. 825, Pr. 834, Pr. 835)
Although stable operation is possible with the initial value, make adjustment when any of such
phenomena as unusual motor and machine vibration/noise and overcurrent has occurred.
Pr.
Name
No.
Torque control P
824
gain 1
Torque control inte-
825
gral time 1
Torque control P
834
gain 2
Torque control inte-
835
gral time 2
Adjustment of current loop proportional (P) gain
● For general adjustment, make setting within the range 50 to 200% as a guideline.
● Increasing the value improves trackability in response to a current command change and
reduces current variation with disturbance. However, a too large gain will cause instability,
generating harmonic torque pulsation.
Adjustment of current control integral time
● A small value enhances the torque response level, but a too small value will cause current
fluctuation.
● Decreasing the value shortens the time taken to return to the original torque if current
variation with disturbance occurs.
Use multiple gains
● When you want to change the gain according to applications, switch multiple motors with
one inverter, etc., use "Torque control P gain 2" and "Torque control integral time 2".
● Pr. 834 "Torque control P gain 2" and Pr. 835 "Torque control integral time 2" are valid when
the RT signal is on.
NOTES
The RT signal acts as the second function selection signal and makes the other second
functions valid. (Refer to section 6.14.3.)
The RT signal is assigned to the terminal RT in the initial setting. By setting "3" in any of Pr.
178 to Pr. 189 "Input terminal function selection", you can assign the RT signal to the other
terminal.
6 - 124
Initial
Setting Range Description
Value
Set the current loop proportional
100% 0–200% gain. 100% is equivalent to
2000rad/s.
Set the current loop integral com-
5ms 0–500ms
pensation time.
Set the current loop proportional
0–200%
gain when the RT signal is on.
9999
Without torque control P gain 2
9999
function
Set the current loop integral com-
0–500ms pensation time when the RT signal
is on.
9999
Without torque control integral time
9999
2 function
Sensorless Sensorless Sensorless Vector Vector Vector
Parameters referred to
178–189
C16–C19
Parameter
Refer to
Section
72 PWM frequency 6.19.1
selection
Input terminal 6.14.1
function selection)
800 Control method 6.2.2
selection
807 Speed limit selec- 6.4.5
tion
Torque setting 6.20.6
voltage (current)
bias and gain