Mitsubishi Electric FR-A700 EC, Инструкция по эксплуатации

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Parameter Speed control by real sensorless vector control, vector control
FR-A700 EC 6 - 99
6.3.4 Speed feed forward control, model adaptive speed control
(Pr. 828, Pr. 877 to Pr. 881)
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.
Pr.
No.
Name
Initial
Value
Setting
Range
Description Parameters referred to
Refer to
Section
828
Model speed control gain 60% 0–1000%
Set the gain for model speed con-
troller.
820
830
821
831
Speed control P
gain 1
Speed control P
gain 2
Speed control inte-
gral time 1
Speed control inte-
gral time 2 6.3.3
6.3.3
6.3.3
6.3.3
877
Speed feed forward control/
model adaptive speed control
selection
0
0 Normal speed control is exercised.
1
Speed feed forward control is exer-
cised.
2
Model adaptive speed control is
enabled.
878
Speed feed forward filter 0 s 0–1s
Set the primary delay filter for the
speed feed forward result calculated
using the speed command and load
inertia ratio.
879
Speed feed forward torque
limit
150% 0–400%
Limits the maximum value of the
speed feed forward torque.
880
Load inertia ratio 7 0–200
Set the load intertia ratio to the
motor.
881
Speed feed forward gain 0% 0–1000%
Set the feed forward calculation
result as a gain.
NOTE 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 6-89.)
I001511E
Fig. 6-19: Block diagram
Sensorless Sensorless Sensorless Vector Vector Vector
Speed
command
J
×
s
Pr. 880
Pr. 877
J
Torque factor
(J : Pr. 880)
Model adaptive speed control
Load
inertia
ration
M
3~
Speed feed
forward gain
Pr. 881
Pr. 879
Speed feed
forward torque
limit
Pr. 878
Speed feed
forward filter
Model speed
control gain
1
J
×
s
Model speed
operation
Pr. 877
Speed control
P gain 1
Pr. 820
Speed control
integral time 1
Pr. 821
Actual speed
controller
iqcurrent
control
Speed estimator