Speed Feed Forward Control, Model Adaptive Speed Control; (Pr.828, Pr.877 To Pr.881); Speed Feed Forward Control, Model Adaptive Speed Control (Pr.828, Pr.877 To Pr.881) - Mitsubishi Electric FR-E700EX Instruction Manual

4.4.4

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.
Parameter
Name
number
Model speed control
828
gain
Feed forward control/
877 model adaptive control
selection
Speed feed forward
878
filter
Speed feed forward
879
torque limit
880 Load inertia ratio
Speed feed forward
881
gain
The above parameters are available only with MM-GKR motors.
(1) Speed feed forward control (Pr.877 = "1")
Calculate required torque in response to the acceleration/deceleration command for the inertia ratio set in Pr.880 and

generate torque immediately.
When the speed feed forward gain is 100%, the calculation result of the speed feed forward is applied as is.

If the speed command changes suddenly, large torque is generated due to the speed feed forward calculation. The

maximum value of the speed feed forward is limited using Pr.879.
Using Pr.878, the speed feed forward result can be dulled by the primary delay filter.

[Block diagram]
Speed command
Initial value Setting range
60% 0 to 1000%
0
0s
150% 0 to 400%
7 times 0 to 200 times
0% 0 to 1000%
Speed feed forward control
[Pr.879 ]
Speed feed
Load inertia ratio
forward torque
limit
Speed feed
J s forward gain
[Pr.880 ]
[Pr.881 ]
Speed control
+
P gain
[Pr.820 ]
-
Actual speed controller
Set the gain for model speed controller.
100% is equivalent to 100 rad/s.
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 forward
0 to 1s result calculated using the speed command and load
inertia ratio.
Limits the maximum value of the speed feed forward
torque.
Set the load inertia ratio to the motor.
Set the feed forward calculation result as a gain.
[Pr.878 ]
Speed feed
forward filter
+
+
Torque control
+
Speed control
integral time
[Pr.821 ]
Speed estimator
Speed control
Description
M
83
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