Fine-Tuning Advanced Open Loop Vector Control For Pm Motors - YASKAWA U1000 Series Technical Manual

6.2 Motor Performance Fine-Tuning
Problem
Oscillation at start or the motor stalls
Stalling or oscillation occur when load
is applied during constant speed
Hunting or oscillation occur
STO fault trips even if the load is not
too high
Stalling or STO occurs at high speed as
the output voltage becomes saturated.
Oscillation at constant output when
U6-02 displays -10% or more.

◆ Fine-Tuning Advanced Open Loop Vector Control for PM Motors

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 stalling makes normal operation
impossible
Oscillation at constant output when
U6-02 displays -10% or more.
<1> Optimal settings will differ between no-load and loaded operation.
◆ Fine-Tuning Closed Loop Vector Control for PM Motors
Problem
• Poor torque or speed response
• Motor hunting and oscillation
• Poor torque or speed response
• Motor hunting and oscillation
ASR proportional gain or the integral
time at the low or high end of the speed
range
Motor hunting and oscillation
Motor stall makes normal operation
impossible
Overshoot or undershoot at speed
changes with high inertia load.
346
Parameter No.
Acceleration/Deceleration Pull-In
Increase the pull-in current set in n8-51
Current (for PM Motors) (n8-51)
DC Injection Braking Current
(b2-02) Use DC Injection Braking at start to align the rotor. Be aware that this
DC Injection Time at Start operation can cause a short reverse rotation at start.
(b2-03)
Increase the load inertia ratio.
Load Inertia (n8-55) Note: Setting this value too high can cause overcompensation and motor
oscillation.
Pull-In Current Compensation
Time Constant (for PM Motors) Decrease n8-47 if hunting occurs during constant speed
(n8-47)
Pull-In Current (for PM Motors)
Increase the pull-in current in n8-48.
(n8-48)
Load Inertia (n8-55) Increase the load inertia ratio.
Speed Feedback Detection
Control Gain (for PM Motors) Increase the speed feedback detection gain in n8-45.
(n8-45)
Motor Induction Voltage • Check and adjust the induced voltage constant.
Constant 1/2 (Ke) (for PM • Check the motor name plate, the data sheet or contact the motor
Motors) (E5-09 or E5-24)
Output Voltage Limit (for PM Set the value of the input voltage to parameter n8-62.
Motors) (n8-62) Never set the value higher than 10% of the actual input voltage.
Output Voltage Limit
Decrease the output voltage limit proportional gain (n8-63).
Proportional Gain (for PM
Note: If the setting is too low, the speed response will be slow.
Motors) (n8-63)
Table 6.5 Parameters for Fine-Tuning Performance in AOLV/PM
Parameter No.
ASR Proportional Gain 1 • If motor torque and speed response are too slow, gradually increase the
(C5-01)
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.
• If motor torque and speed response are too slow, decrease the setting.
ASR Integral Time 1 (C5-02)
• If motor hunting and oscillation occur, increase the setting.
ASR Integral Time 2 (C5-04)
• Parameter C5-03 needs to be adjusted only if C5-05 > 0
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.
ASR Primary Delay Time
If the load is less rigid and subject to oscillation, increase this setting.
Constant (C5-06)
Motor parameters
Check the motor parameter settings.
(E1-, E5-)
Output Voltage Limit
Decrease the output voltage limit proportional gain (n8-63).
Proportional Gain (for PM
Note: If the setting is too low, the speed response will be slow.
Motors) (n8-63)
Table 6.6 Parameters for Fine-Tuning Performance in CLV/PM
Parameter No.
ASR Proportional Gain 1 • If motor torque and speed response are too slow, gradually increase the
(C5-01)
ASR Proportional Gain 2 • If motor hunting and oscillation occur, decrease the setting.
(C5-03) • Perform ASR Gain Auto-Tuning if possible
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.
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.
ASR Primary Delay Time
If the load is less rigid and subject to oscillation, increase this setting.
Constant (C5-06)
Motor parameters
Check the motor parameter settings.
(E1-, E5-)
Feed Forward Control Selection Enable Feed Forward Control by setting parameter n5-01 = 1 and perform
(n5-01) Inertia Auto-Tuning. If Auto-Tuning cannot be performed set parameters
Inertia Auto-Tuning (T2-01 = 8) C5-17, C5-18 and n5-03 manually.
Corrective Action
manufacturer for getting data.
Corrective Action
setting by 5.
Corrective Action
setting by 5.
YASKAWA ELECTRIC SIEP C710636 02B YASKAWA U1000 Technical Manual
Suggested
Default
Setting
Increase in steps
50%
of 5%
b2-03 = 0.5 s
b2-02 = 50%
Increase b2-02 if
b2-03 = 0.0 s
needed
Close to the actual
0
load inertia ratio
Reduce in
5.0 s
increments of 0.2 s
Increase in
30%
increments of 5%
Close to the actual
0
load inertia ratio
Increase in
0.8
increments 0.05
dep. on drive Refer to the motor
capacity and data sheet or the
motor code nameplate.
Set the value lower
200 Vac or 400
than the actual
Vac
input voltage.
0.10 to 1.00
1.00 Decrease in
decrements of 0.1
Suggested
Default
Setting
10.00 5.00 to 30.00
<1>
0.300 to
0.500 s
1.000 s
<1>
0.0% 0.0 to Max min
-1
0.016 to
0.010 s
0.035 s
<1>
– –
0.10 to 1.00
1.00 Decrease in
decrements of 0.1
Suggested
Default
Setting
20.00 10.00 to 50.00
<1>
0.300 to
0.500 s
1.000 s
<1>
0.0%
0.0 to Max min -1
0.004 to
0.016 s
0.020 s
<1>
– –
0 1