YASKAWA L1000A Technical Manual page 219

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n5-03: Inertia Compensation Gain
Parameter n5-03 sets the inertia ratio of the load connected to the motor.
No.
n5-03
Calculate the value for n5-03 as explained below.
30 v
ΣJ = J + Σm
r_Elev
2
i
π n
TS
r_Mot
n5-03 = ΣJ / J
Mot
<1> Insert 0 kg for the load to calculate the lowest setting, insert the elevator rated load to calculate the maximum setting for
n5-03. Use the lower of calculated values for initial trials and increase n5-03 gradually until the desired performance is
achieved.
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Speed Feedback Compensation: Speed Observer
Enabling the Speed Feedback Compensation can reduce oscillation and increase responsiveness to the speed reference by
compensating for phase delay.
Note: 1. Set n5-07 to 1 to use the Speed Feedback Compensation.
2. Set C5-17 (motor inertia) and C5-18 (load inertia ratio) to the correct values before using the Speed Feedback Compensation.
3. If the product of C5-17 × C5-18 is relatively large, the estimated speed will be very slow.
4. Reduce the products of C5-17 × C5-18 if oscillation is a problem.
5. C5-18 to at least 1.1 when using the Speed Feedback Compensation. A setting of 1.0 or less disables the Speed Feedback
Compensation.
Adjusting the Speed Feedback Compensation
Follow the procedure below to set up the Speed Feedback Compensation
1. Set the drive for Open Loop Vector for PM motors.
2. Enter the correct data from the motor nameplate and the motor test report to the E5-
3. Set all ASR-related parameters (C5-
4. Set the Speed Feedback Compensation to operate in test mode (n5-07).
5. Connect the rope the motor.
6. Start operating the elevator while looking at the Speed Feedback Compensation output monitor (U6-56) and the motor
speed feedback (U1-05).
7. Adjust the Speed Feedback Compensation gain (n5-08) and C5-18 so that the monitor values in U6-56 and U1-05 are
relatively low.
Figure 5.43 shows a block diagram for the Speed Feedback Compensation.
Figure 5.43
Operating
+
Speed
–
n5-07
= 0, 2 = 1
YASKAWA ELECTRIC SIEP C710616 38A YASKAWA AC Drive L1000A Technical Manual
Parameter Name
Inertia Compensation Gain
• J - Motor inertia in kgm 2
Mot
• n - Rated motor speed in r/min
r_Mot
2
• T - Rated motor torque in Nm
r_Mot
• J - Traction sheave inertia in kgm
TS
• i - Gear ratio (n /n )
Load Mot
• v - Rated elevator speed in m/s
r_Elev
• Σm - Mass of all moved parts (car, counterweight, ropes, load
)to their most appropriate values.
ASR
Kn (1+1/ST)
C5-01, -02
Speed Observer
output monitor
U6-56
Figure 5.43 Speed Feedback Compensation Operation
2
) in kg
<1>
Speed Observer Gain (P)
n5-08
= 2
5.9 n: Special Adjustments
Setting Range Default
0.00 or 100.00
parameters.
Torque
U1-09
Torque
Limit
Reference
q-Axis
Current
Control
L7-
q-Axis Current
= 1
Speed Feedback
= 0, 2
n5-07
common_TMonly
1.00
5
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