YASKAWA L1000A - N5: Inertia Compensation

5.9 n: Special Adjustments
YASKAWA ELECTRIC SIEP C710616 38F YASKAWA AC Drive - L1000A Technical Manual 243
Parameter Details
5
◆ n5: Inertia Compensation
Enabling Inertia Compensation improves the responsiveness of the drive to speed reference changes in applications where
a high speed control proportional gain setting (C5-01, C5-03, C5-13) would lead to problems with overshoot, undershoot,
or oscillation. Figure 5.44 gives an example of overshoot reduction by Inertia Compensation. Parameters related to this
function and the function principle are illustrated in Figure 5.45. Inertia Compensation can only be used in Closed Loop
Vector Control for induction or PM motors (A1-02 = 3 or 7).
Note: 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, C5-03, C5-13), or adjust it manually. Fine-tune the other speed control loop
parameters (C5-) if required.
Figure 5.44
Figure 5.44 Overshoot Suppression by Inertia Compensation
Figure 5.45
Figure 5.45 Inertia Compensation
Note: Prior to using Inertia Compensation, always perform Auto-Tuning or set the correct motor data manually. and adjust the Speed
Control Loop.
■ n5-01: Inertia Compensation Selection
Enables or disables the Inertia Compensation 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.
No. Parameter Name Setting Range Default
n5-01 Inertia Compensation Selection 0 or 1 0
No. Parameter Name Setting Range Default
n5-02 Motor Acceleration Time 0.001 to 10.000 s Determined by o2-04
1050
Overshoot
Conventional Speed Control Inertia Compensation Control
Time (s)
Motor Speed (r/min) Motor Speed (r/min)
Time (s)
900
750
0
1050
900
750
0
00.51 00.51
Suppresses
overshoot at the
end of acceleration
common_TMonly
Speed Control
Loop P and I
C5-01/02/03/04
/13/14
Inertia
Compensation
n5-02/03
Speed
reference after
Soft Starter
Speed Control
Loop Delay and
Torque Limits
C5-06, L7-
+
+
+
-
Speed
Feedback
U6-26
U6-25
U1-01
Inertia Compensation Output
Speed Control Loop Output
U1-09
Speed
Reference
Inertia Compensation Torque
Compensation Value
Torque reference
common_TMonly
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