Mitsubishi Electric FR-A700 Technical Manual page 255

2.9.4 Speed feed forward control, model adaptive speed control [Pr. 828, 877 to 881]
A700
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.
[Pr. ]
828
Model speed control gain
Speed feed forward control model
877
adaptive speed control selection
878
Speed feed forward filter
879 Speed feed forward torque limit
880
Load inertia ratio
881 Speed feed forward gain
(1) Speed feed forward control
[Pr. 877 = 1, Pr. 878 to 881]
Inverter calculates required torque in response to the
acceleration/deceleration command for the inertia
ratio set in [Pr. 880]
immediately.
When [Pr. 881 = Speed feed forward gain = 100%], the
calculation result of the speed feed forward is
reflected as it is.
If the speed command changes suddenly, large
torque is generated due to the speed feed forward
Speed command
Name Initial Value
60%
0
0s
150%
7 times
0%
and generates torque
Speed feed forward control
Load inertia
ratio
Speed feed
forward
J s
gain
[Pr. 880]
[Pr. 881]
Speed
control
P gain 1
[Pr. 820]
Actual speed controller
Since it is calculating the compensation amount according
to the inertia ratio under any control, set the correct inertia
ratio in [Pr. 880] or perform automatic estimation of the load
inertia ratio using easy gain turning [Pr. 819 = 1].
Setting Range
0 to 1000%
Set the gain for model speed controller.
0 Normal speed control is performed.
1
Speed feed forward control is performed.
2
Model adaptive speed control is enabled.
Set the primary delay filter for the speed feed
0 to 1s
forward result calculated using the speed command
and load inertia ratio.
Limits the maximum value of the speed feed forward
0 to 400%
torque.
0 to 200 times
Set the load inertia ratio to the motor.
0 to 1000% Set the feed forward calculation result as a gain.
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.
The speed feed forward control is valid for the first
motor only. When [Pr. 877 = 1], control target is
switched to the second motor, and the second motor
is handled as [Pr. 877 = 0].
[Pr. 879]
[Pr. 878]
Speed feed Speed feed
forward torque forward
limit
filter
+
+
+
Speed control
integral time 1
[Pr. 821]
Speed
estimator
289
PARAMETER
Description
Torque
I M
control
(A700)
2