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To Perform High Accuracy/fast Response Operation (gain Adjustment Of Real Sensorless Vector Control And Vector Control) (pr. 818 To Pr. 821, Pr. 830, Pr. 831, Pr. 880) - Mitsubishi Electric FR-A700 Instruction Manual

Fr-a700 series to 03460-na/09620-na/00330-n4/00170-n4.
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Speed control by real sensorless vector
control, vector control
4.4.4
To perform high accuracy/fast response operation (gain adjustment of real
sensorless vector control and vector control) (Pr. 818 to Pr. 821, Pr. 830,
Pr. 831, Pr. 880)
The ratio of the load inertia to the motor inertia (load inertia moment) is estimated in real time from the torque
command and speed during motor operation by vector control. As optimum gain of speed control and position
control are automatically set from the load inertia ratio and response level, time and effort of making gain
adjustment are reduced. (Easy gain tuning)
When the load inertia ratio can not be estimated due to load fluctuation or real sensorless vector control is
exercised, control gain is automatically set by manually inputting the load inertia ratio.
Make a manual input adjustment when vibration, noise or any other unfavorable phenomenon occurs due to
large load inertia or gear backlash, for example, or when you want to exhibit the best performance that matches
the machine.
Parameter
Name
Number
Easy gain tuning
818
response level setting
Easy gain tuning
819
selection
820
Speed control P gain 1
Speed control integral
821
time 1
830
Speed control P gain 2
Speed control integral
831
time 2
880
Load inertia ratio
(1) Block diagram of easy gain tuning function
<Vector control>
Command
Easy gain tuning
response level
setting (Pr. 818 )
104
Sensorless
Sensorless
Sensorless
Vector
Vector
Vector
Initial Value
2
0
60%
0.333s
9999
9999
7 times
Automatic setting
Speed control/position loop gain
+
Model speed control gain
-
Pr. 820, Pr. 821,
Pr. 828, Pr. 422
On when Pr. 819 = "1, 2"
Load inertia ratio
Gain table
Pr. 880
Easy gain tuning
selection (Pr. 819 )
Setting Range
Set the response level.
1 to 15
1: Slow response to 15: Fast response
0
Without easy gain tuning
With load estimation, with gain calculation
1
(valid only during vector control)
2
With load (Pr. 880) manual input, gain calculation
Set the proportional gain for speed control.
(Increasing the value improves trackability in
0 to 1000%
response to a speed command change and
reduces speed variation with disturbance.)
Set the integral time during speed control.
(Decrease the value to shorten the time taken for
0 to 20s
returning to the original speed if speed variation
with disturbance occurs.)
Second function of Pr. 820 (valid when RT signal is
0 to 1000%
on)
9999
No function
Second function of Pr. 821 (valid when RT signal is
0 to 20s
on)
9999
No function
0 to 200 times
Set the load intertia ratio to the motor.
+
Current
-
control
Torque command
On when
Pr. 819 = "1"
Load inertia
ratio estimation
section
Speed/position feedback
Description
Load
inertia
moment
Detector
Motor
Encoder
Actual motor speed

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