5.9 n: Special Adjustments
306 YASKAWA ELECTRIC SIEP C710616 27G YASKAWA AC Drive A1000 Technical Manual
n5: Feed Forward Control
Enabling Feed Forward can improve the drives responsiveness to speed reference changes in applications where a high
speed control proportional gain setting (ASR gain, C5-01, C5-03) would lead to problems with overshoot, undershoot, or
oscillation. Figure 5.110 gives an example of overshoot redu
ction by Feed Forward. Parameters related to this function
and the function principle are illustrated in Figure 5.111. Feed Forward can only be used in Clo
sed Loop Vector Control
for induction or PM motors (A1-02 = 3 or 7), or in Advanced Open Loop Vector Control for PM motors (A1-02 = 6).
Figure 5.110
Figure 5.110 Overshoot Suppression by Feed Forward Control
Figure 5.111
Figure 5.111 Feed Forward Control
Note: 1. Feed Forward can
only be used in CLV, AOLV/PM, and CLV/PM control modes.
2. Prior to using Feed Forward, always perform Auto-Tuning or set the correct motor data manually. Also perform ASR Auto-Tuning to
set the speed loop gain (C5-01), or adjust it manually. Fine-tune the other speed control loop parameters (C5-) if required.
3. I
f not restricted by the application, use Inertia Auto Tuning (T1-01, T2-01 = 8) to have the drive automatically optimize Feed
Forward parameters. If Inertia Auto Tuning cannot be performed, parameters related to Feed Forward should be set manually.
n5-01: Feed Forward Control Selection
Enables to disables the Feed Forward function.
Setting 0: Disabled
Setting 1: Enabled
n5-02: Motor Acceleration Time
Sets the time required to accelerate the motor from a full stop up to the rated speed at the rated torque.
This value can be set automatically by Inertia Auto-Tuning. If Inertia Auto-Tuning cannot be performed, use one of the
methods below to determine the setting value for this parameter.
No. Name Setting Range Default
n5-01 Feed Forward Control Selection 0 or 1 0
No. Parameter Name Setting Range Default
n5-02 Motor Acceleration Time 0.001 to 10.000 s
Determined by C6-01,
E5-01 and o2-04
1050
Overshoot
Conventional Speed Control Feed Forward Control
Time (s)
Motor Speed (min
-1
)
Motor Speed (min
-1
)
Time (s)
900
750
0
1050
900
750
0
0 0.5 1 0 0.5 1
Suppresses
overshoot at the
end of acceleration
ASR P and I
C5-01/02/03/04
Feed Forward
Control
n5-02/03
Frequency
reference after
Soft Starter
ASR Delay and
Torque Limits
C5-06, L7-
+
+
+
-
Speed
Feedback
U6-26
U6-25
U1-16
Feed Forward Output
ASR Output
U1-09
Frequency
Reference
Feed Forward Torque
Compensation Value
Torque reference
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