Mitsubishi FR-A800

Speed control under Real sensorless vector control, vector control, PM sensorless vector
control
200
PARAMETERS
5.3.7 Speed feed forward control and model adaptive
speed control
 The value for the FR-A820-03160(55K) or lower and FR-A840-01800(55K) or lower.
 The value for the FR-A820-03800(75K) or higher and FR-A840-02160(75K) or higher.
POINTPOINT
• When using model adaptive speed control, use the data obtained from the easy gain tuning for Pr.828 Model speed control
gain setting. Make the setting with easy gain tuning (at the same time). (Refer to page 192.)
Speed feed forward control (Pr.877 = "1")
• When the load inertia ratio is set in Pr.880, the required torque for the set inertia is calculated according to the acceleration
and deceleration commands, and the torque is generated quickly.
• When the speed feed forward gain is 100%, the calculation result for speed feed forward is applied as is.
• If the speed command changes suddenly, the torque is increased by the speed feed forward calculation. The maximum
limit for the speed feed forward torque is set in Pr.879.
• The speed feed forward result can also be lessened with a primary delay filter in Pr.878.
• Speed feed forward control or model adaptive speed control can be selected using parameter settings.
Under speed feed forward control, the motor trackability for speed command changes can be improved.
Under model adaptive speed control, the speed trackability and the response level to motor external disturbance
torque can be adjusted individually.
Pr. Name
Initial
value
Setting
range
Description
828
G224
Model speed control
gain
60% 0 to 1000% Set the gain for the model speed controller.
877
G220
Speed feed forward
control/model adaptive
speed control selection
0
0 Perform normal speed control.
1 Perform speed feed forward control.
2 Model adaptive speed control becomes valid.
878
G221
Speed feed forward
filter
0 s 0 to 1 s
Set the primary delay filter for the result of the speed feed forward
calculated from the speed command and load inertia ratio.
879
G222
Speed feed forward
torque limit
150% 0 to 400% Set a maximum limit for the speed feed forward torque.
880
C114
Load inertia ratio
7-fold 0 to 200-fold Set the load inertia ratio for the motor.
881
G223
Speed feed forward
gain
0% 0 to 1000% Set the calculation result for speed feed forward as the gain.
1119
G262
Model speed control
gain (per-unit system)
9999
0 to 300 Set the gain for the model speed controller in the per-unit system.
9999 The Pr.828 setting is applied to the operation.
1121
G260
Per-unit speed control
reference frequency
120 Hz
0 to 400 Hz
Set the speed at 100% when setting speed control P gain or
model speed control gain in the per-unit system.
60 Hz

Sensorless
Sensorless
SensorlessSensorless
Sensorless
SensorlessSensorless
Sensorless
Sensorless
Vector
Vector
Vector
PM
PM
PM
Load inertia ratio
J s
[Pr. 880]
[Pr. 878]
Speed feed
forward
filter
[Pr. 879]
Speed feed
forward torque
limit
Speed feed
forward
gain
[Pr. 881]
Speed feed forward control
Torque control
Speed estimator
Speed
control
P gain 1
[Pr. 820]
Speed control
integral time 1
[Pr. 821]
M
Actual speed controller
+
-
+
+
+
Speed command
[Block diagram]
.