Control And Pm Sensorless Vector Control) - Mitsubishi Electric 800 Series Instruction Manual

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)
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 unfavorable conditions,
such as vibration and acoustic noise during operation with high load inertia or gear backlash.
Pr. Name
818 Easy gain tuning
C112 response level setting
819 Easy gain tuning
C113 selection
820
Speed control P gain 1
G211
821 Speed control integral
G212 time 1
830
Speed control P gain 2
G311
831 Speed control integral
G312 time 2
880
Load inertia ratio
C114
1115 Speed control integral
G218 term clear time
Constant output range
1116
speed control P gain
G206
compensation
1117 Speed control P gain 1
G261 (per-unit system)
1118 Speed control P gain 2
G361 (per-unit system)
1121 Per-unit speed control
G260 reference frequency
1348 P/PI control switchover
G263 frequency

The value for the FR-A860-01080 or lower.

The value for the FR-A860-01440 or higher.
164
PARAMETERS
Sensorless Sensorless Vector Sensorless Vector Vector
Initial Setting
value range
2 1 to 15
0
0 1
2
60% 0 to 1000%
0.333 s 0 to 20 s
0 to 1000%
9999
9999
0 to 20 s
9999
9999
7-fold 0 to 200-fold
0 ms 0 to 9998 ms
0% 0 to 100%
0 to 300
9999
9999
0 to 300
9999
9999
120 Hz

0 to 400 Hz
60 Hz

0 Hz 0 to 400 Hz
PM PM PM
Description
Set the response level.
1 (slow-response) to 15 (fast-response)
No easy gain tuning
Gain is calculated with load calculation
(This function is valid under vector control.)
Gain is calculated with load (Pr.880) manual input
The proportional gain during speed control is set. (Setting
this parameter higher improves the 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 original
speed when the speed fluctuates due to external
disturbance.)
Second function of Pr.820 (valid when RT signal is ON)
The Pr.820 setting is applied to the operation.
Second function of Pr.821 (valid when RT signal is ON)
The Pr.821 setting is applied to the operation.
Set the load inertia ratio for the motor.
Set time until the integral term is reduced and cleared after P
control switching.
Set a compensation amount of the speed control P gain in
the constant output range (rated speed or higher).
Set a proportional gain under speed control in the per-unit
system.
The Pr.820 setting is applied to the operation.
Second function of Pr.1117 (valid when RT signal ON)
The Pr.1117 setting is applied to the operation.
Set the speed at 100% when setting speed control P gain or
model speed control gain in the per-unit system.
Set the motor speed for the P/PI control switchover.