Motor Performance Fine-Tuning - YASKAWA U1000 Series Technical Manual

6.2 Motor Performance Fine-Tuning

6.2 Motor Performance Fine-Tuning
This section offers helpful information for counteracting oscillation, hunting, or other problems that occur while
performing a trial run. Refer to the section below that corresponds to the motor control method used.
Note: This section describes parameters that are commonly edited and may be set incorrectly. Consult Yaskawa for more information
on detailed settings and fine-tuning the drive.
 Fine-Tuning V/f Control and V/f Control with PG
Table 6.1 Parameters for Fine-Tuning Performance in V/f and V/f w/PG
Problem
Motor hunting and oscillation at speeds
between 10 and 40 Hz
• Motor noise
• Motor hunting and oscillation at
speeds up to 40 Hz
• Poor torque or speed response
• Motor hunting and oscillation
• Poor motor torque at speeds below 10
Hz
• Motor hunting and oscillation
• Poor motor torque at low speeds
• Motor instability at motor start
Poor speed precision (V/f control)
Poor speed precision (V/f control with
PG)
<1> Default setting value is dependent on parameter A1-02, Control Method Selection, and o2-04, Drive Model Selection.
<2> Default settings change when the Control Method is changed (A1-02) or a different V/f pattern is selected using parameter E1-03.
<3> ASR in V/f Control with PG only controls the output frequency, and therefore does not allow the high gain settings possible when using Close
Loop Vector control.
<4> Refer to C5: Automatic Speed Regulator (ASR) on page 184
 Fine-Tuning Open Loop Vector Control
Problem
• Poor motor torque and speed
response
• Motor hunting and oscillation at
speeds between 10 and 40 Hz
• Poor motor torque and speed
response
• Motor hunting and oscillation at
speeds between 10 and 40 Hz
• Poor motor torque and speed
response
• Motor hunting and oscillation
Poor speed response and stability
Poor speed precision
Poor speed precision during
regenerative operation
302
Parameter No.
• If insufficient motor torque relative to the size of the load causes hunting,
reduce the setting.
• When motor hunting and oscillation occur with a light load, increase the
Hunting Prevention Gain Setting
setting.
(n1-02)
• Lower this setting if hunting occurs when using a motor with a relatively
low inductance, such as a high-frequency motor or a motor with a larger
frame size.
• If the motor noise is too loud, increase the carrier frequency.
• When motor hunting and oscillation occur at speeds up to 40 Hz, lower
Carrier Frequency Selection
the carrier frequency.
(C6-02)
• The default setting for the carrier frequency depends on the Drive Model
Selection (o2-04) and the Drive Duty Mode Selection (C6-01).
Torque Compensation Primary
• If motor torque and speed response are too slow, decrease the setting.
Delay Time
• If motor hunting and oscillation occur, increase the setting.
(C4-02)
• If motor torque is insufficient at speeds below 10 Hz, increase the setting.
Torque Compensation Gain
• If motor hunting and oscillation with a relatively light load, decrease the
(C4-01)
setting.
• If torque is insufficient at speeds below 10 Hz, increase the setting.
Middle Output Frequency
• If motor instability occurs at motor start, decrease the setting.
Voltage (E1-08)
Minimum Output Frequency
Note: The recommended setting value is for 200 V class drives. Double
Voltage (E1-10)
this value when using a 400 V class drive.
Slip Compensation Gain After setting the motor-rated current (E2-01), motor-rated slip (E2-02), and
(C3-01) motor no-load current (E2-03), adjust the slip compensation gain (C3-01).
ASR Proportional Gain 1 (C5-01)
Adjust the ASR proportional gain 1 (C5-01) and the ASR integral time 1
ASR Integral Time 1 (C5-02)
(C5-02).
<3> <4>
Table 6.2 Parameters for Fine-Tuning Performance in OLV
Parameter No.
• If motor torque and speed response are too slow, gradually decrease the
Speed Feedback Detection
setting by 0.05.
Control (AFR) Gain
• If motor hunting and oscillation occur, gradually increase the setting by
(n2-01)
0.05.
• To improve motor torque speed response, gradually reduce this setting by
10 ms and check the performance.
Speed Feedback Detection
• If motor hunting and oscillation occur as a result of load inertia, gradually
Control (AFR) Time Constant 1
increase the setting by 50 ms and check the performance.
(n2-02)
Note: When changing n2-02, set C4-02 (Torque Compensation Primary
Delay Time) accordingly.
• To improve motor torque speed response, gradually reduce this setting by
2 ms and check the performance.
• If motor hunting and oscillation occur, gradually increase this setting by
Torque Compensation Primary
10 ms.
Delay Time (C4-02)
Note: Ensure that C4-02  C4-06. When making adjustments to C4-02,
increase the Speed Feedback Detection Control (AFR) Time Constant1
(n2-02) proportionally.
Slip Compensation Primary • If response is slow, gradually decrease the setting by 10 ms.
Delay Time (C3-02) • If speed is unstable, gradually increase the setting by 10 ms.
• If speed is too slow, gradually increase the setting by 0.1 ms.
Slip Compensation Gain (C3-01)
• If speed is too fast, gradually decrease the setting by 0.1 ms.
Slip Compensation Selection Enable slip compensation during regeneration by setting parameter C3-04
during Regeneration (C3-04) = 1.
Corrective Action
for details on Automatic Speed Regulator (ASR).
Corrective Action
YASKAWA ELECTRIC SIEP C710636 03A YASKAWA U1000 Technical Manual
Suggested
Default
Setting
1.00 0.10 to 2.00
1 (4 kHz) 1 to max. setting
200 ms 100 to 1000 ms
<1>
1.00 0.50 to 1.50
E1-08: 15.0 V
Default setting
E1-10: 9.0 V
±5 V
<2>
0.0
(no slip 0.5 to 1.5
compensation)
Proportional gain
C5-01: 0.20 = 0.10 to 1.00
C5-02: 0.200 s Integral time
= 0.100 to 2.000 s
Suggested
Default
Setting
1.00 0.50 to 2.00
50 ms 50 to 2000 ms
20 ms 20 to 100 ms
<1> <1>
200 ms 100 to 500 ms
<2>
1.0 0.5 to 1.5
<2>
0 1