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Fine adjustment of gains for speed control
VECTOR CONTROL
2
2.3.5 Speed feed forward control, model adaptive speed control (Pr. 828, Pr. 877 to Pr. 881)
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.
Parameter Name Factory Setting Setting Range
828 Model speed control gain 60% 0 to 1000%
877
Speed feed forward control/model
adaptive speed control selection
0 0,1,2
878 Speed feed forward filter 0s 0 to 1s
879 Speed feed forward torque limit 150% 0 to 400%
880 Load inertia ratio 7 0,1 to 200 times
881 Speed feed forward gain 0% 0 to 1000%
POINT
When model adaptive speed gain is selected, the data obtained from easy gain tuning is used for Pr. 828 "model
speed control proportional gain". Perform easy gain tuning also (simultaneously). (Refer to the Instruction Manual
(basic).)
+
Load inertia
ratio
Model speed
control gain
Pr.828
J
Torque factor
iq current
control
IM
Encoder
Js
Pr.880
1
2
Pr.877
1
2
2
0
Pr.878
Speed feed
forward filter
Pr.879
Speed feed
forward torque
limit
Pr.877
Actual speed controller
Model speed
operation
1
J·s
Speed feed
forward gain
Pr.881
Model adaptive speed control
(J : Pr.880)
Speed
command
Speed control
P gain 1
Pr.820
Speed control
integral time 1
Pr.821
+
-
-
+
+
+
1