Speed Loop Proportional Gain Setting; Speed Control Integral Time Setting; Speed Detection Filter Function; Current Loop Proportional Gain Setting - Mitsubishi Electric FR-A700 Manual

Pr.
Pr.
820, 830

Speed loop proportional gain setting

Pr.820 Speed control P gain 1
Set the proportional gain of the speed loop.
Increasing the gain enhances the speed response level and
decreases the speed fluctuation relative to disturbance, but a
too large gain will produce vibration and/or sound.
The setting range of Pr.820 Speed control P gain 1 and Pr.830
Speed control P gain 2 is 0 to 1000% and the initial value is 60%.
For general adjustment, set them within the range 20 to 200%.
Pr.
Pr.
821, 831

Speed control integral time setting

Pr.821 Speed control integral time 1
Set the integral compensation time of the speed loop.
If speed fluctuation occurs relative to disturbance, decreasing
the value shortens the recovery time, but a too small value will
cause a speed overshoot.
A large value improves stability but increases the recovery time
(response time) and may cause an undershoot.
Pr.
Pr.
822
Refer to the section about Pr.74.
Pr.
Pr.
823, 833

Speed detection filter function

Pr.823 Speed detection filter 1
Set the time constant of the primary delay filter relative to the
speed feedback signal.
Since this function reduces the speed loop response, use it with
the initial value.
Set the time constant when speed ripples occur due to harmonic
disturbance.
Note that a too large value will run the motor unstably.
Pr.
Pr.
824, 834

Current loop proportional gain setting

Pr.824 Torque control P gain 1
Set the current loop integral compensation time for real
sensorless vector control or vector control.
A small value enhances the torque response level, but a too
small value will cause current fluctuation.
Pr.
Pr.
825, 835
Current control integral time setting
Pr.825 Torque control integral time 1
Set the proportional gain of the speed loop.
Increasing the gain enhances the speed response level and
decreases the speed fluctuation relative to disturbance, but a
too large gain will produce vibration and/or sound.
The setting range of Pr.820 Speed control P gain 1 and Pr.830
Speed control P gain 2 is 0 to 1000% and the initial value is 60%.
For general adjustment, set them within the range of 20 to
200%.
When setting parameters, refer to the instruction manual (applied) and understand instructions.
Sensorless Sensorless Sensorless
Vector Vector Vector
Pr.830 Speed control P gain 2
Sensorless Sensorless Sensorless
Vector Vector Vector
Pr.831 Speed control integral time 2
Vector Vector Vector
Pr.833 Speed detection filter 2
Sensorless Sensorless Sensorless
Vector Vector Vector
Pr.834 Torque control P gain 2
Sensorless Sensorless Sensorless
Vector Vector Vector
Pr.835 Torque control integral time 2
Pr.
Pr.
826
Refer to the section about Pr.74.
Pr. Pr.
827, 837
Torque detection filter function
Pr.827 Torque detection filter 1
Set the time constant of the primary delay filter relative to the
torque feedback signal.
Since the current loop response reduces, use it with the initial
value.
Pr.
Pr.
828, 877 to 881
Speed feed forward control, model
adaptive speed control
Pr.828 Model speed control gain
Pr.877 Speed feed forward control/model adaptive speed control selection
Pr.878 Speed feed forward filter
Pr.880 Load inertia ratio
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
adjustment of speed trackability and motor disturbance torque
response.
Pr.877 Setting
0 (initial value) Normal speed control is exercised.
1 Speed feed forward control is exercised.
2 Model adaptive speed control is enabled.
(1) Speed feed forward control
⋅ Calculate required torque in responce to the acceleration/
deceleration command for the inertia ratio set in Pr.880 and generate
torque immediately.
⋅ When inertia ratio estimation has been made by easy gain tuning,
the inertia ratio estimation result becomes the Pr.880 setting value
from which speed feed forward is computed.
⋅ When the speed feed forward gain is 100%, the calculation result of the
speed feed forward is reflected 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 limitted using Pr.879.
⋅ Using Pr.878, the speed feed forward result can be dulled by the
primary delay filter.
(2) Model adaptive speed control
⋅ The motor's model speed is calculated to feed back the model side
speed controller. This model speed is also used as the actual speed
controller command.
⋅ The inertia ratio in Pr. 880 is used for calculation of the torque current
command value given by the model side speed controller.
When inertia ratio estimation has been made by easy gain tuning,
Pr. 880 is overwritten by the inertia ratio estimation result, and that
value is used to calculate the torque current command value.
⋅ The torque current command value of the model side speed
controller is added to the output of the actual speed controller, and
the result is used as the iq current control input.
⋅ Pr.828 is used for model side speed control (P control), and the first
gain in Pr. 820 is used for the actual speed controller. The model
adaptive speed control is valid for the first motor only.
⋅ When Pr.877 = 2, switching to the second motor handles the second
motor as Pr.877 = 0.
Sensorless Sensorless Sensorless
Vector Vector Vector
Pr.837 Torque detection filter 2
Sensorless Sensorless Sensorless
Vector Vector Vector
Pr.879 Speed feed forward torque limit
Pr.881 Speed feed forward gain
control enables individual
Description
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