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Hitachi Vector Control with the SJ300 Inverter Application Note

Vector control with the sj300 inverter.
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SJ300 Series Inverter
Application Note:
Optimizing Vector Control
Please refer also to the SJ300 Inverter
Instruction Manual and the SJ-FB Option
Board Instruction Manual
AN072302-1
Hitachi America, Ltd.
© 2002 Hitachi America, Ltd.

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   Summary of Contents for Hitachi Vector Control with the SJ300 Inverter

  • Page 1

    SJ300 Series Inverter Application Note: Optimizing Vector Control Please refer also to the SJ300 Inverter Instruction Manual and the SJ-FB Option Board Instruction Manual AN072302-1 Hitachi America, Ltd. © 2002 Hitachi America, Ltd.

  • Page 2

    Therefore please regard this information as just a guide only. This document only shows technical issues related to vector control. Please refer to the SJ300 Inverter and SJ-FB manuals for detailed information for installation and operation. © 2002 Hitachi America, Ltd.

  • Page 3

    ASR mode : Inverter is controlled by speed command input (digitally set, analog input, or RS485) • APR mode : Inverter is controlled by pulse train input signal [H***] and [P***] parameters are adjusted for achieving good motor control. A suitable mode should be selected depending on the application. © 2002 Hitachi America, Ltd.

  • Page 4

    150% or more 150% or more 150% or more Same kW motor 100% or more 100% or more 100% or more These are guaranteed minimum values with a Hitachi standard induction motor. Actual capability is greater. Ø Torque performance at 0Hz Item...

  • Page 5

    This determines which set of motor parameters is used by the drive. H002 Motor constant selection 00 : Motor parameters for a Hitachi standard motor (Uses [H020] ~ [H024] ) 01 : Use auto tuning data (Uses [H030] ~ [H034] ) 02 : Use auto tuning data with On-line auto tuning On-line auto tuning occurs every time the inverter stops.

  • Page 6

    This is because the effect of dead time will be reduced. * Second and 3rd functions ([H2**] & [H3**]) have the same meaning for 2nd and 3rd motors. Refer to Table 3 for standard (default) motor parameter settings for SJ300 series inverter. © 2002 Hitachi America, Ltd.

  • Page 7

    Decrease P-gain of speed response factor response H051 Increase I-gain of speed response factor *Refer to Table 3 for a standard (default) motor parameter settings for SJ300 series inverter. © 2002 Hitachi America, Ltd. © 2002 Hitachi America, Ltd. © 2002 Hitachi America, Ltd.

  • Page 8

    (d-ACR) Stabilization factor [H006] Frequency d-axis secondary Integrator calculation flux control Motor Constant (R1, R2, L, Io) Current converter (3 à 2 ) Speed estimator Motor Constant (R1, R2, L, Io) © 2002 Hitachi America, Ltd. Vector control technical information...

  • Page 9

    Inverter main body Internal setting Torque limiter PCLR Speed detection SJ-FB Position detection Orientation EAP,EAN control EBP,EBN EZP,EZN EP5,EG5 AP,AN STAT Speed deviation Zero speed BP,BN excessive signal detection SAP,SAN SBP,SBN SJ-FB Option Board Block Diagram © 2002 Hitachi America, Ltd.

  • Page 10

    These parameters are based on EU motors, which have slightly different motor constants than Japanese & US motors. Therefore the Japanese versions and US versions of SJ300 have slightly different motor parameters as default settings. © 2002 Hitachi America, Ltd.

  • Page 11

    Common condition Ø INV : SJ300-007HFE (rated output current = 2.5A) Motor : Hitachi standard induction motor (380V 50Hz 0.75kW 1.9A 4p 1420rpm) No load (shaft free) Ø Set frequency [F001] = 3.00Hz Acceleration time [F002] = 0.01s, Deceleration time [F003] = 0.01s Control mode [A044] = 03 ;...

  • Page 12

    Data07. L [H022] = 51.88 à 10.00 200.0 f (ave) = 2.94 Hz 4.25 Hz f (ave) = 2.96 Hz 2.79 Hz 1.37 Arms 1.34 Arms 1.37 Arms 1.40 Arms © 2002 Hitachi America, Ltd. © 2002 Hitachi America, Ltd.

  • Page 13

    There is no set procedure or specific order for these tuning steps, because optimal tuning depends on Ø the conditions and situation of the system. Refer to Table 2 in previous section for suggestions for tuning. © 2002 Hitachi America, Ltd.

  • Page 14

    (Multiplying 4 is fixed as MCU calculation) A001 Frequency command from; Terminal (O-L input) A002 RUN command from; “RUN” key of the operator F002 Acceleration time As short as the system allows. F003 Deceleration time © 2002 Hitachi America, Ltd.

  • Page 15

    “RUN” key of the operator F002 Acceleration time As short as the system allows. F003 Deceleration time Above are the main parameters to get position control. You have to adjust other parameters ([H***] parameters) to get good performance. © 2002 Hitachi America, Ltd.

  • Page 16

    Fig 5. Timing chart of example 3-2 Motor shaft rotates a bit to reverse in case it exceeds the stop position (1 ~ 2 pulses). Refer to section [2] for adjusting each parameters to get good motor performance. © 2002 Hitachi America, Ltd.

  • Page 17

    ASR block receives the * and controls the system to make (= * - ) to be 0. (see above figure.) and output of this block will be forwarded to next block. © 2002 Hitachi America, Ltd.

  • Page 18

    APR mode because the slave inverter is controlled by pulse train input from the master. Rt = ON Termination resistor Rt = OFF Fig 10. Idea of Master-Slave control © 2002 Hitachi America, Ltd.

  • Page 19

    Orientation completion range is 5 pulses Master SJ300 Slave SJ300 STAT STAT SJ-FB SJ-FB Master Orientation mode Motor speed slave Based on the set ramp time Motor Motor Fig 12. Wiring and timing chart example of Master-Slave control © 2002 Hitachi America, Ltd.

  • Page 20

    Make it ON for every unit Receiver (Slave) Driver (Master) Delay 1 Delay 2 Delay 3 Delay n Total delay Total delay Total delay Total delay = 1+ 2 = 1+ 2+ 3 Fig 13-2. Series connection of Master-Slave control © 2002 Hitachi America, Ltd.

  • Page 21

    Pulse train mode of the encoder “00” : 90 of phase difference pulse train input Detected pulse numbers Forward Reverse “01” : FW/RV pulse and pulse train Pulse train input FW/RV signal Detected pulse numbers Forward Reverse © 2002 Hitachi America, Ltd.

  • Page 22

    [P018] Fig 14. Timing chart of POK output [P019] Position of an electronic gear [P020] Refer to section (4-2) and Numerator of the electronic gear (5-1) for an information. [P021] Denominator of the electronic gear © 2002 Hitachi America, Ltd.

  • Page 23

    Over deviation detection level (Hz) setting Inverter gives out warning (DSE output) from an intelligent input terminal when the speed deviation exceeds this level. The calculation is based on a deviation in Fig 7 and Fig 8. © 2002 Hitachi America, Ltd.

  • Page 24

    ƒ Positioning completion : POK (23) POK signal turns ON when the motor stop position comes to a set range of [P017] during positioning. Once it goes out of this range the signal turns OFF and perform positioning again. © 2002 Hitachi America, Ltd.

  • Page 25

    Inertia of the load [kgm (*) Contact each manufacturer for each J [kgm ] value. Total inertia J = J Ÿ [kgm [kg] : Total weight Refer to Appendix B for calculation of load inertia. © 2002 Hitachi America, Ltd.

  • Page 26

    Sprocket Jd = (1/8) [kg] [rpm] Total inertia converted to a motor shaft J [kg] = (Ja+Jb+Jc+Jd) (Na/Nm) + Jg [rpm] Jg ; Inertia for the gear portion Geared motor [kgm : gear portion Ÿ © 2002 Hitachi America, Ltd.

  • Page 27

    V [m/min] : Speed of the material Motor N [rpm] : Rotation of the converted shaft Refer also to appendix (A-3) for detailed explanation. Refer to Hitachi Inverter Technical Guide Book for further detailed information of inertia. © 2002 Hitachi America, Ltd.

This manual also for:

Sj300

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