Mitsubishi Electric FR-A820-00046 Instruction Manual page 291

Parameters Speed control under Real sensorless vector control, vector control, PM sensorless vector control
Model adaptive speed control (Pr. 877 = "2", Pr. 828, Pr. 1119)
● The model speed of the motor is calculated, and the feedback is applied to the speed controller
on the model side. Also, this model speed is set as the command of the actual speed controller.
● The inertia ratio of Pr. 880 is used when the speed controller on the model side calculates the
torque current command value.
● The torque current command of the speed controller on the model side is added to the output of
the actual speed controller, and set as the input of the iq current control.
Pr. 828 is used for the speed control on the model side (P control), and first gain Pr. 820 is used for
the actual speed controller.
● The model speed control gain can be set in the per-unit (pu) system in Pr. 1119.
● In the per-unit system:
When "1" is set, the torque (Iq) command is 100% (rated Iq) when the speed deviation is 100%.
When "10" is set, the torque (Iq) command is 10% (rated Iq) when the speed deviation is 100%.
Set the 100% speed in Pr. 1121 "Per-unit speed control reference frequency".
Speed
com-
mand
Fig. 5-30:
NOTES The model adaptive speed control is enabled for the first motor.
Even if the driven motor is switched to the second motor while Pr. 877 = "2", the second motor is
operated as Pr. 877 = "0".
Under PM sensorless vector control, the notch filter is available when low-speed range high-
torque characteristic is enabled by Pr. 788 "Low speed range torque characteristic selection" =
"9999 (initial value)". (Refer to page 5-75.)
Under model adaptive speed control, because the appropriate gain values for the model and
actual loop sections are based on the response that was set for easy gain tuning, when raising the
response level, Pr. 818 "Easy gain tuning response level setting" must be re-evaluated (raised).
The per-unit system setting is available only under Real sensorless vector control or vector control.
When the speed control P gain or model speed control gain is set in the per-unit system, the easy
gain tuning selection (Pr. 819="1 or 2") becomes invalid.
FR-A800
Model adaptive speed control
Torque
coefficient
(J: [Pr. 880]
+
Model speed
control gain
[Pr. 828]
-
Model speed
calculation
Block diagram of model adaptive speed control
J
Speed
+
1
control P
gain 1
J•s
- [Pr. 820]
Actual speed controller
+
Torque
+
control
+
Speed control
integral time 1
[Pr. 821]
Speed
estimator
M
I002521E
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