Speed Feed Forward Control, Model Adaptive Speed Control (Pr. 828, Pr. 877 To Pr. 881) - Mitsubishi Electric FR-A720-0.4K Instruction Manual

Speed control by real sensorless vector
control, vector control
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 103)
(1) Block diagram
1
2
2
Speed
command
0
1
Pr.877
110
Vector Vector Vector
Initial Value
60%
0
0s
150%
7 times
0%
Load inertia ratio
Speed feed
J s
forward gain
Pr.880
Pr.881
Model adaptive speed control
Model speed
+
control gain
Pr.828
-
Speed control
+
P gain 1
Pr.820
-
Actual speed
controller
Setting Range
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.
0 to 200 times Set the load intertia ratio to the motor.
0 to 1000% Set the feed forward calculation result as a gain.
Pr.879
Pr.878
Speed feed
Speed feed
forward torque
forward filter
limit
J
Torque factor
1
2
(J : Pr.880)
+
+
+
Speed control
integral time 1
Pr.821
Description
1
J s
Pr.877
Model speed
operation
iq current
control
Speed estimator
IM