Mitsubishi Electric 800 Series Instruction Manual (Function page 133

• The inertia ratio of Pr.880 is used when the speed controller on the model side calculates the torque current command
value.
• The torque current command of the speed controller on the model side is added to the output of the actual speed controller,
and set as the input of the iq current control.
Pr.828 is used for the speed control on the model side (P control), and first gain Pr.820 is used for the actual speed
controller.
[Block diagram]
Model adaptive speed control
+
Speed command
-
NOTE
• The model adaptive speed control is enabled for the first motor.
• Even if the driven motor is switched to the second motor while Pr.877 = "2", the second motor is operated as Pr.877 = "0".
132
5. Speed Control
5.6 Speed feed forward control, model adaptive speed control
J
Torque coefficient
(J: [Pr. 880] )
Model speed
1
control gain
J s
[Pr. 828]
Model speed
calculation
Speed control
+
P gain 1
- [Pr. 820]
Speed control
Actual speed controller
integral time 1
[Pr. 821]
+
+
Torque
M
control
+
Speed
estimator