YASKAWA T1000A, Техническое руководство, Страница: 238 / 517

5.9 n: Special Adjustments
238 YASKAWA ELECTRIC SIEP C710616 30B YASKAWA AC Drive T1000A Technical Manual
Figure 5.89
Figure 5.89 Overshoot Suppression by Feed Forward Control
Figure 5.90
Figure 5.90 Feed Forward Control
Note: 1. Feed Forward can only be used in CLV, AOLV/PM, and CLV/PM control modes.
2. Prior to using Feed Forward, always perform Auto-Tuning or set the correct motor data manually. Also perform ASR Auto-Tuning to
set the speed loop gain (C5-01), or adjust it manually. Fine-tune the other speed control loop parameters (C5-
††
) if required.
3. If not restricted by the application, use Inertia Auto Tuning (T1-01 = 8) to have the drive automatically optimize Feed Forward
parameters. If Inertia Auto Tuning cannot be performed, parameters related to Feed Forward should be set manually.
n
n5-01: Feed Forward Control Selection
Enables to disables the Feed Forward function.
Setting 0: Disabled
Setting 1: Enabled
n
n5-02: Motor Acceleration Time
Sets the time required to accelerate the motor from a full stop up to the rated speed at the rated torque.
This value can be set automatically by Inertia Auto-Tuning. If Inertia Auto-Tuning cannot be performed, use one of the
methods below to determine the setting value for this parameter.
Calculation
The motor acceleration time can be calculated by,
or
No. Name Setting Range Default
n5-01 Feed Forward Control Selection 0 or 1 0
No. Parameter Name Setting Range Default
n5-02 Motor Acceleration Time 0.001 to 10.000 s
Determined by C6-01,
E5-01 and o2-04
Where:
• J
Motor
is the motor inertia in kg
⋅
m 2 .
• n
rated
is the rated speed of the motor in r/min
• T
rated
is the rated torque of the motor in N
⋅
m.
Where:
• J
Motor
is the motor inertia in kg
⋅
m 2 .
• f
rated
is the rated frequency of the motor in Hz.
• p is the number of motor poles (not pole pairs!).
• T
rated
is the rated torque of the motor in N
⋅
m.
1050
Overshoot
Conventional Speed Control Feed Forward Control
Time (s)
Motor Speed (r/min) Motor Speed (r/min)
Time (s)
900
750
0
1050
900
750
0
0 0.5 1 0 0.5 1
Suppresses
overshoot at the
end of acceleration
ASR P and I
C5-01/02/03/04
Feed Forward
Control
n5-02/03
Frequency
reference after
Soft Starter
ASR Delay and
Torque Limits
C5-06, L7-
+
+ +
-
Speed
Feedback
U6-26
U6-25
U1-20
Feed Forward Output
ASR Output
U1-09
Frequency
Reference
Feed Forward Torque
Compensation Value
Torque reference
n5-02 =
2
π
J
Motor
n
rated
60 T
rated
n5-02 =
4π
J
Motor
f
rated
p T
rated