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Speed control by Real sensorless
vector control, vector control
4
PARAMETERS
(2) Model adaptive speed control (Pr. 877 = "2")
⋅ The motor's model speed is calculated to feed back the model side speed controller. This model speed is also used
as the actual speed controller command.
⋅ The inertia ratio in Pr. 880 is used for calculation of the torque current command value given by the model side speed
controller.
⋅ The torque current command value of the model side speed controller is added to the output of the actual speed
controller, and the result is used as the iq current control input.
Pr. 828 is used for model side speed control (P control), and the first gain in Pr. 820 is used for the actual speed
controller. The model adaptive speed control is valid for the first motor only.
(3) Combination of easy gain tuning
The following table indicates the relationships between the speed feed forward/model adaptive speed control and easy
gain tuning function.
REMARKS
· Even if the driven motor is switched to the second motor while Pr. 877 = 2, the second motor is operated as if Pr. 877 = 0.
CAUTION
The adequate gain value for the model and actual loop parts are set according to the response setting of easy gain tuning under
model adaptive speed control. To increase the response level, the Pr. 818 Easy gain tuning response level setting needs to be
changed (increased).
Easy Gain Tuning Selection (Pr. 819) Setting
0 1 2
Load inertia ratio
(Pr. 880)
Manual input
Inertia ratio estimation value
found by easy gain tuning is
displayed.
Manual input enabled only
during a stop.
Manual input
Speed control P gain 1
(Pr. 820)
Manual input
Tuning results are displayed.
Write disabled
Tuning results are displayed.
Write disabled
Speed control integral time 1
(Pr. 821)
Manual input
Tuning results are displayed.
Write disabled
Tuning results are displayed.
Write disabled
Model speed control gain
(Pr. 828)
Manual input
Tuning results are displayed.
Write disabled
Tuning results are displayed.
Write disabled
Speed feed forward gain
(Pr. 881)
Manual input Manual input Manual input
♦Parameters referred to♦
Pr. 820 Speed control P gain 1, Pr. 830 Speed control P gain 2 Refer to page 105
Pr. 821 Speed control integral time 1, Pr. 831 Speed control integral time 2 Refer to page 105
Torque
control
Speed
estimator
Speed control
P gain 1
Speed control
integral time 1
IM
Speed command
Actual speed controller
Model speed
calculation
+
-
+
+
+
Model speed
control gain
[Pr. 828]
1
J s
J
Torque coefficient
(J: )
+
-
Model adaptive speed control
[Block diagram]
[Pr. 880]
[Pr. 820]
[Pr. 821]