Mitsubishi Electric 800 Series Instruction Manual page 175

Speed control under Real sensorless vector control, vector control, PM sensorless vector
control
NOTE
• The speed feed forward control is enabled for the first motor.
• Even if the driven motor is switched to the second motor while Pr.877= "1", the second motor is operated as Pr.877="0".
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 10%.
Set the 100% speed in Pr.1121 Per-unit speed control reference frequency.
[Block diagram]
Model adaptive speed control
+ Model speed
Speed command
control gain
-
NOTE
• 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 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.
Combining with easy gain tuning
• The following table shows the relationship between speed feed forward and model adaptive speed control, and the easy
gain tuning function.
Pr.880 Load inertia ratio
Pr.820 Speed control P gain 1
Pr.821 Speed control integral time 1
Pr.828 Model speed control gain
Pr.881 Speed feed forward gain
Parameters referred to ???????
Pr.820 Speed control P gain 1, Pr.830 Speed control P gain 2
Pr.821 Speed control integral time 1, Pr.831 Speed control integral time 2
174
PARAMETERS
J
Torque coefficient
(J: [Pr. 880] )
1
J s
[Pr. 828]
Model speed
calculation
0
Manual input
Manual input
Manual input
Manual input
Manual input
Speed control
+
P gain 1
- [Pr. 820]
Speed control
Actual speed controller
integral time 1
Easy gain tuning selection (Pr.819) setting
1
The inertia ratio value calculated by easy
gain tuning is displayed.
Manual input is available only during a stop.
The tuning result is displayed.
Write is not available.
The tuning result is displayed.
Write is not available.
The tuning result is displayed.
Write is not available.
Manual input
page 164
page 164
+
+
Torque
control
+
[Pr. 821]
Speed
estimator
Manual input
The tuning result is displayed.
Write is not available.
The tuning result is displayed.
Write is not available.
The tuning result is displayed.
Write is not available.
Manual input
M
2