Gain Adjustment Of Current Controllers For The D Axis And The Q Axis (Pr.824, Pr.825) - Mitsubishi Electric FR-D720-0.2K-G Instruction Manual

Test operation and gain adjustment of the PM sensorless vector control
Condition
Acceleration/deceleration time is
5
different from the setting.
6 Machine movement is unstable.
Rotation ripple occurs during the
7
low-speed operation.
4.3.6

Gain adjustment of current controllers for the d axis and the q axis (Pr.824, Pr.825)

The gain of the current controller can be adjusted.
Parameter
Name
Number
Torque control P gain
824
(current loop
proportional gain)
Torque control integral
825
time (current loop
integral time)
The above parameters can be set when Pr.160 Extended function display selection = "0". (Refer to page 161.)
........Specifications differ according to the date assembled. Refer to page 294 to check the SERIAL number.
(1) Current loop proportional (P) gain adjustment (Pr. 824)
Use Pr.824 Torque control P gain (current loop proportional gain) to adjust the proportional gain of current controllers for the d axis
and the q axis. The 100% gain is equivalent to 1000 rad/s. Setting this parameter higher improves the trackability for current
command changes. It also reduces the current fluctuation caused by external disturbances.
(2) Current control integral time adjustment (Pr. 825)
Use Pr.825 Torque control integral time (current loop integral time) to set the integral time of current controllers for the d axis and
the q axis. If the setting value is small, it produces current fluctuation against external disturbances, decreasing time until it
returns to original current value.
Possible Cause
(1) Torque shortage
(2) Load inertia is too high.
(1) Speed control gain is not
suitable for the machine.
(2) Response is slow because
of the drive unit's
acceleration/deceleration
time setting.
Speed control gain is too low.
Initial Setting
Value Range
0 to 200% Set the current loop proportional gain.
S-PM geared motor
9999
9999
IPM motor (after tuning)
SPM motor (after tuning)
0 to 500ms Set current loop integral compensation time.
S-PM geared motor
9999
9999
IPM motor (after tuning)
SPM motor (after tuning)
Countermeasure
(1) Raise the stall prevention operation level. (
page 83 .)
(2) Set acceleration/deceleration time suitable for the
load.
(1) Adjust Pr. 820 and Pr. 821 (
(2) Set the optimum acceleration/deceleration time.
Raise Pr. 820.
Operation
50% is set.
100% is set.
20.0ms is set.
Refer to
.)
Refer to page 79
81
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