Hitachi SJ Series, User Manual

Page: 292 / 786

12-11-5
Chapter 12 Inverter Functions
12.11.3 Perform Drooping Control
• We want to have high torque when the same axis is
driven by multiple motors.
• This switches the control gain (ASR gain) of motor
control from PI control to P control.
• Use the following formula when calculating P
control P gain.
(P control P gain) = (%)
The relationship between speed fluctuation ratio
and speed tolerance is calculated based on the
following schematic formula.
(Speed fluctuation ratio)
= 100%
When [CAS] terminal switch [HA120] = 00
When the control gain mapping function [HA120] = 01
• In the case of using this function, [AA121] control
method, sensorless vector control, sensorless
vector control in the zero speed area, and sensor
vector control need to be selected.
• When [E007] excessive voltage error occurs, the
situation may be improved by setting to P control.
Terminal
function
[PPI]OFF [PPI]ON
[CAS]OFF
PI control P gain 1 [HA125]
PI control I gain 1 [HA126]
P control P gain 1 [HA127]
[CAS]ON
PI control P gain 2 [HA128]
PI control I gain 2 [HA129]
P control P gain 2 [HA130]
Speed
Applied
gain
[PPI] Off [PPI] On
0Hz Gain 1
PI control P gain 1 [HA125]
PI control I gain 1 [HA126]
P control P gain 1 [HA127]
Intermediate
frequency 1
Gain 2
PI control P gain 2 [HA128]
PI control I gain 2 [HA129]
P control P gain 2 [HA130]
Intermediate
frequency 2
Gain 3
PI control P gain 3 [HA131]
PI control I gain 3 [HA132]
Maximum
frequency
Gain 4
PI control P gain 4 [HA133]
PI control I gain 4 [HA134]
Q
A
!
0%
Number of
revolutions
Torque
100%
Under PI
control
Under P
control
X
10
(Speed fluctuation
ratio)
Speed tolerance at the rated torque
X(min
-1
)
Synchronous rotation at the base
speed (min
-1
)