Performing High-Accuracy, Fast-Response Control (Gain Adjustment For Real Sensorless Vector Control, Vector Control And Pm Sensorless Vector Control) - Mitsubishi Electric FR-A820-00046 Instruction Manual

Parameters Speed control under Real sensorless vector control, vector control, PM sensorless vector control
5.3.5 Performing high-accuracy, fast-response control (gain adjustment for Real
sensorless vector control, vector control and PM sensorless vector control)
Sensorless Sensorless Vector Sensorless
The load inertia ratio (load moment of inertia) for the motor is calculated in real time from the torque
command and rotation speed during motor driving by the vector control. Because the optimum gain
for speed control and position control is set automatically from the load inertia ratio and the response
level, the work required for gain adjustment is reduced. (Easy gain tuning)
If the load inertia ratio cannot be calculated due to load fluctuations, or under Real sensorless vector
control or PM sensorless vector control, the control gain can be set automatically by entering the load
inertia ratio manually.
Manual gain adjustment is useful for achieving optimum machine performance or improving unfa-
vorable conditions, such as vibration and acoustic noise during operation with high load inertia or
gear backlash.
Pr.
818
C112
819
C113
820
G211
821
G212
830
G311
831
G312
880
C114
1115
G218
1116
G206
1117
G261
1118
G361
1121
G260
The value for the FR-A820-03160(55K) or lower and FR-A840-01800(55K) or lower.
The value for the FR-A820-03800(75K) or higher and FR-A840-02160(75K) or higher.
FR-A800
Vector Vector PM PM PM
Name
Easy gain tuning response
level setting
Easy gain tuning selection
Speed control P gain 1
Speed control integral
time 1
Speed control P gain 2
Speed control integral
time 2
Load inertia ratio
Speed control integral
term clear time
Constant output range
speed control P gain
compensation
Speed control P gain 1
(per-unit system)
Speed control P gain 2
(per-unit system)
120 Hz
Per-unit speed control
reference frequency
Initial Setting
Description
value range
Set the response level.
2 1 to 15
1 (slow-response) to 15 (fast-response)
0 No easy gain tuning
Gain is calculated with load calculation
0 1
(This function is valid under vector control.)
2 Gain is calculated with load (Pr. 880) manual input
The proportional gain during speed control is set.
(Setting this parameter higher improves the
60% 0 to 1000% trackability for speed command changes. It also
reduces the speed fluctuation caused by external
disturbance.)
The integral time during speed control is set. (Setting
this parameter lower shortens the return time to the
0.333 s 0 to 20 s
original speed when the speed fluctuates due to
external disturbance.)
Second function of Pr. 820 (valid when RT signal is
0 to 1000%
ON)
9999
9999 The Pr. 820 setting is applied to the operation.
Second function of Pr. 821 (valid when RT signal is
0 to 20 s
ON)
9999
9999 The Pr. 821 setting is applied to the operation.
7-fold 0 to 200-fold Set the load inertia ratio for the motor.
Set time until the integral term is reduced and cleared
0 ms 0 to 9998 ms
after P control switching.
Set a compensation amount of the speed control P
0% 0 to 100% gain in the constant output range (rated speed or
higher).
Set a proportional gain under speed control in the
0 to 300
per-unit system.
9999
9999 The Pr. 820 setting is applied to the operation.
0 to 300 Second function of Pr. 1117 (valid when RT signal ON)
9999
9999 The Pr. 1117 setting is applied to the operation.
Set the speed at 100% when setting speed control P
0 to 400 Hz gain or model speed control gain in the per-unit
60 Hz
system.
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