Speed control operation is performed to zero the difference between the speed command (ω*) and actual rotation value
detected by encoder (ωFB). At this time, the motor load is found and its result is transferred to the torque current
controller as a torque current command (iq*).
A voltage (Vq) is calculated to flow a current (iq) which is identical to the torque current command (iq*) found by the
The magnetic flux (Φ2) of the motor is derived from the excitation current (id). The excitation current command (id*) is
calculated to use that motor magnetic flux (Ф2) as a predetermined magnetic flux.
A voltage (Vd) is calculated to flow a current (id) which is identical to the excitation current command (id*).
Motor slip (ωs) is calculated on the basis of the torque current value (iq) and magnetic flux (Φ2). The output frequency
(ω0) is found by adding that slip (ωs) to the feedback (ωFB) found by a feedback from the encoder.
The above results are used to make PWM modulation and run the motor.
Changing the control method and mode
Set the control method and the control mode.
V/F control, Advanced magnetic flux vector control, Real sensorless vector control, Vector control, and PM sensorless vector
control are the control methods available for selection.
The available control modes are speed control, torque control, and position control modes.
Select a control mode under Real sensorless vector control, Vector control, and PM sensorless vector control. Under Real
sensorless vector control, select a control mode from the speed control, torque control, and position control modes. Under
Vector control, select a control mode from the speed control, torque control, and position control modes. The control method
is initially set to V/F control.
When using an IPM motor MM-CF, simply performing the IPM parameter initialization enables the PM sensorless vector control
and selects the speed control and position control.
• Select a control method and a control mode by setting Pr.800(Pr.451) Control method selection.
• The control mode can be switched using a mode switching signal (MC).
5.2 Control method