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4.4.5
Speed feed forward control, model adaptive speed control (Pr. 828, Pr. 877 to Pr.
881)
Sensorless
Sensorless
Sensorless
By making parameter setting, select the speed feed forward control or model adaptive speed control.
The speed feed forward control enhances the trackability of the motor in response to a speed command
change.
The model adaptive speed control enables individual adjustment of speed trackability and motor disturbance
torque response.
Parameter
Name
Number
Model speed control
828
gain
Speed feed forward
control/model
877
adaptive speed
control selection
Speed feed forward
878
filter
Speed feed forward
879
torque limit
880
Load inertia ratio
Speed feed forward
881
gain
POINT
When model adaptive speed control is selected, the data obtained from easy gain tuning is used for Pr. 828 Model
speed control gain. Perform easy gain tuning also (simultaneously). (Refer to page 104)
(1) Speed feed forward control (Pr. 877 = "1")
Calculate required torque in response to the acceleration/deceleration command for the inertia ratio set in Pr. 880 and
generate torque immediately.
When the speed feed forward gain is 100%, the calculation result of the speed feed forward is reflected as-is.
If the speed command changes suddenly, large torque is generated due to the speed feed forward calculation. The
maximum value of the speed feed forward is limited using Pr. 879 .
Using Pr.878, the speed feed forward result can be dulled by the primary delay filter.
[Block diagram]
Speed command
REMARKS
· 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 if Pr. 877 = 0.
Vector
Vector
Vector
Initial Value
Setting Range
60%
0
0s
150%
7 times
0 to 200 times
0%
Speed feed forward control
[Pr. 879]
Speed feed
Load inertia ratio
forward torque
Speed feed
forward
J s
gain
[Pr. 880]
[Pr. 881]
Speed
+
control
P gain 1
-
[Pr. 820]
Actual speed controller
Speed control by Real sensorless
vector control, vector control
0 to 1000%
Set the gain for model speed controller.
0
Normal speed control is exercised.
1
Speed feed forward control is exercised.
2
Model adaptive speed control is enabled.
Set the primary delay filter for the speed feed
0 to 1s
forward result calculated using the speed
command and load inertia ratio.
Limits the maximum value of the speed feed
0 to 400%
forward torque.
Set the load inertia ratio to the motor.
0 to 1000%
Set the feed forward calculation result as a gain.
[Pr. 878]
Speed feed
forward
limit
filter
+
+
Torque control
+
Speed control
integral time 1
[Pr. 821]
Speed estimator
Description
I M
111
4
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