Speed Feed Forward Control, Model Adaptive Speed Control - Mitsubishi Electric 800 Series Instruction Manual (Function

5.6
Speed feed forward control, model adaptive speed
control
Sensorless Vector Sensorless Sensorless Vector Vector
• Speed feed forward control or model adaptive speed control can be selected using parameter settings.
Under speed feed forward control, the motor trackability for speed command changes can be improved.
Under model adaptive speed control, the speed trackability and the response level to motor external disturbance torque
can be adjusted individually.
Pr. Name
828
Model speed control gain
G224
Speed feed forward
877
control/model adaptive
G220
speed control selection
878
Speed feed forward filter
G221
879 Speed feed forward torque
G222 limit
880
Load inertia ratio
C114
881
Speed feed forward gain
G223
 Speed feed forward control (Pr.877 = "1")
• When the load inertia ratio is set in Pr.880, the required torque for the set inertia is calculated according to the acceleration
and deceleration commands, and the torque is generated quickly.
• When the speed feed forward gain is 100%, the calculation result for speed feed forward is applied as is.
• If the speed command changes suddenly, the torque is increased by the speed feed forward calculation. The maximum
limit for the speed feed forward torque is set in Pr.879.
• The speed feed forward result can also be lessened with a primary delay filter in Pr.878.
[Block diagram]
Speed command
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)
• 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.
Initial Setting
value range
0 to 1000 rad/
100 rad/s
s
0
0 1
2
0.01 s 0.01 to 1 s
150% 0% to 400%
7 times 0 to 200 times Set the load inertia ratio for the motor.
0% 0% to 1000% Set the calculation result for speed feed forward as the gain.
Speed feed forward control
[Pr. 879]
Speed feed
forward torque
Load inertia ratio
Speed feed
.
forward
J s
gain
[Pr. 880]
[Pr. 881]
Speed
+
control
P gain 1
-
[Pr. 820]
Actual speed controller
Set the gain for the model speed controller.
Perform normal speed control.
Perform speed feed forward control.
Model adaptive speed control becomes valid.
Set the primary delay filter for the result of the speed feed forward
calculated from the speed command and load inertia ratio.
Set a maximum limit for the speed feed forward torque.
[Pr. 878]
Speed feed
forward
limit filter
+
+
Torque control
+
Speed control
integral time 1
[Pr. 821]
Speed estimator

5.6 Speed feed forward control, model adaptive speed control

Description
M
5. Speed Control
1
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