Mitsubishi Electric FR-E800, Инструкция по эксплуатации

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5. Speed Control
5.5 Performing high-accuracy, fast-response control (gain adjustment for Real sensorless vector control, Vector control, and PM sensorless
vector control)
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5.5
Performing high-accuracy, fast-response control
(gain adjustment for Real sensorless vector
control, Vector control, and PM sensorless vector
control)
Gain adjustment is useful for achieving optimum machine performance or improving unfavorable conditions, such as vibration
and acoustic noise during operation with high load inertia or gear backlash.
 Speed control gain adjustment
• The speed control gain can be adjusted for the conditions such as abnormal machine vibration, acoustic noise, slow
response, and overshoot.
• Setting 60% (initial value) in Pr.820 Speed control P gain 1 is equivalent to 120 rad/s (speed response of a single motor).
(Equivalent to the half the rad/s value during Real sensorless vector control.) Setting this parameter higher speeds up the
response, but setting this too high causes vibration and acoustic noise.
• Setting Pr.821 Speed control integral time 1 lower shortens the return time to the original speed during speed fluctuation,
but setting it too low causes overshoot.
*1 The value in the parentheses is applicable under Real sensorless vector control.
*2 Performing PM parameter initialization changes the settings. (Refer to page 104 .)
• Actual speed gain is calculated as follows when load inertia is applied.
Sensorless Sensorless Sensorless Vector Vector Vector PM PM PM
Pr. Name
Initial
value Setting
range
Description
820
G211
Speed control P gain 1 60% 0% to 1000%
The proportional gain during speed control is set. (Setting this
parameter higher improves the trackability for speed command
changes. It also reduces the speed fluctuation caused by external
disturbance.)
821
G212
Speed control integral time 1 0.333 s 0 to 20 s
The integral time during speed control is set. (Setting this
parameter lower shortens the return time to the original speed
when the speed fluctuates due to external disturbance.)
830
G311
Speed control P gain 2 9999
0% to 1000% Second function of Pr.820 (valid when RT signal is ON)
9999 The Pr.820 setting is applied to the operation.
831
G312
Speed control integral time 2 9999
0 to 20 s Second function of Pr.821 (enabled when the RT signal is ON)
9999 The Pr.821 setting is applied to the operation.
880
C114
Load inertia ratio 7 times 0 to 200 times The load inertia ratio for the motor is set.
Pr.820
Setting
100%
60%
(initial value
*2
)
Proportional gain
200 (100)rad/s
*1
120 (60)rad/s
*1
Since increasing the proportional gain enhances the
response level and decreases the speed fluctuation.
Load
fluctuation
Speed
Decreasing the integral time shortens the return time taken.