C5: Speed Control Loop - YASKAWA L1000V Technical Manual

5.3 C: Tuning
n
C4-05: Torque Compensation Time Constant
Sets the time constant for applying the torque compensation at start that is set to C4-03 and C4-04.
No.
C4-05
u C5: Speed Control Loop
The Speed Control Loop controls the motor speed in OLV and in simple closed loop (V/f and OLV) control modes. It
adjusts torque reference in order to minimize the difference between speed reference and actual motor speed.
Figure 5.7
Speed reference
Detected speed
n
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%. 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.
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:
Check parameter C5-07 and set a speed loop setting switching point.
1.
Start a trip and check for any problems like rollback, vibration, overshoot, etc.
2.
Adjust C5-03/04 in order to improve the performance at start. Increase C5-03, then shorten C5-04 if the speed
3.
response is slow. Set them in the opposite way if vibration occurs.
Adjust C5-01/02 in order to solve problems that occur at speeds higher than C5-07. Increase C5-01, then
4.
shorten C5-02 if overshoot when reaching the top speed occurs. Set them in the opposite way if vibration
occurs.
Adjust C5-13/14 in order to improve the stopping behavior. Increase C5-13, then shorten C5-14 if the landing
5.
accuracy is poor. Adjust them in the opposite way if vibrations occur.
Repeat steps 2 to 5 until the desired riding comfort has been reached. Also refer to
6.
Problems on page
114
Parameter Name
Torque Compensation Time Constant
C5-01, C5-03, C5-13, C5-19
+
P
-
I
C5-02, C5-04,
C5-14, C5-20
Figure 5.7 Speed Control Block Diagram
115.
97.
YASKAWA EUROPE SIEP
Torque limits
+
Primary
filter
+
I
C5-06
limit
L7-01 to L7-04
C5-08
H4: Multi-Function Analog Outputs on page 134
Setting Range
0 to 200 ms
Torque reference
common_TMo
for details on
Riding Comfort Related
YASKAWA AC Drive L1000V Technical Manual
Default
10 ms