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D. Clenet
"Cahiers Techniques" is a collection of documents intended for engineers
and technicians, people in the industry who are looking for more in-depth
information in order to complement that given in product catalogues.
The latest publications can be downloaded from the Schneider Electric internet
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Section: Experts' place
Foreword
The author disclaims all responsibility subsequent to incorrect use of
information or diagrams reproduced in this document, and cannot be held
responsible for any errors or oversights, or for the consequences of using
information and diagrams contained in this document.
Daniel CLENET
Table of contents
1 Brief history and reminders 1.1 Brief history p. 4
1.2 Reminders: The main functions of electronic starters p. 4
and variable speed drives
2 The main operating modes and 2.1 The main operating modes p. 6
main types of electronic drive 2.2 The main types of drive p. 8
3 Structure and components of 3.1 Structure p. 10
electronic starters and drives 3.2 Components p. 11
4 Variable speed drive/regulator for DC motor 4.1 General principle p. 14
4.2 Possible operating modes p. 15
5 Frequency inverter for asynchronous motor 5.1 General principle p. 16
5.2 V/f operation p. 17
5.3 Vector control p. 18
5.4 Voltage power controller for asynchronous motor p. 21
5.5 Synchronous motor-drives p. 23
5.6 Stepper motor-drives p. 23
6 Additional functions of variable speed drives 6.1 Dialog options p. 25
6.2 Built-in functions p. 25
6.3 Option cards p. 26
7 Conclusion p. 27
Speed regulation
A speed regulator is a controlled drive Motor
(see Fig. 1 ). It features a control system with
power amplification and a feedback loop and is
described as “closed loop”.
The speed of the motor is defined by a Fig. 1 : Principle of speed regulation
reference.
Speed
F F
G M
1 1
Q2 Q1 Torque
Q3 Q4
F F
M G
2 2
a M a M
Fig. 3 : Simplified schematics: [a] direct converter with mixed bridge; [b] indirect converter with (1) input diode
bridge, (2) braking device (resistor and chopper), (3) frequency inverter
P. T% b- P. T%
150 150
P
P T
100 T 100
50 50
0 N% 0 N%
0 50 100 150 0 50 100 150
Fig. 4 : Operating curve at constant torque Fig. 5 : Operating curves at variable torque
α
M
3ϕ
α
3.1 Structure
Electronic starters and variable speed drives keypads, or via PLCs (over fieldbuses) or PCs.
comprise two modules, which are usually Similarly, the various commands (run, stop,
housed in a single enclosure (see Fig. 10 ): brake, etc.) can be sent via HMIs, PLCs or PCs.
c A control module, which manages the Operating parameters and alarm and fault data
operation of the device can be displayed using indicators,
c A power module, which supplies power to the electroluminescent diodes, segment displays or
motor in the form of electrical energy LCDs. Alternatively they can be displayed
remotely to supervisors via fieldbuses.
The control module Relays, which are usually programmable,
On modern starters and drives, all functions are provide the following data:
controlled by a microprocessor, which uses the c Fault (line supply, thermal, product, sequence,
settings, the commands sent by an operator or overload, etc.)
by a processing unit and the results of
c Monitoring (speed threshold, pre-alarm, end of
measurements such as speed, current, etc.
starting)
Along with dedicated circuits (ASICs), the micro-
The voltages required for all measurement and
processors’ calculation functions have made it
control circuits are supplied via a power supply
possible to perform extremely high-performance
that is integrated into the drive and electrically
control algorithms and in particular to recognize isolated from the line supply.
the parameters of the machine being driven. The
microprocessor uses this information to manage The power module
the deceleration and acceleration ramps, for speed
The main components of the power module are:
control and current limiting as well as to control
power components. Protection and safety measures c Power components (diodes, thyristors, IGBTs,
are processed by dedicated circuits (ASICs) or etc.)
circuits integrated in power modules (IPMs). c Interfaces for measuring voltages and/or
Speed limits, ramp profiles, current limits and currents
other settings are defined using the integrated c In most cases, a fan unit
Power
Control module
module
Commands
Power supply Rectifier
Adjustment
Microprocessor
Firing
Status Power
display interface
Feedback Converter
Data
processing Relay
Feedback
Thermal Safety security Motor
memory interface
I
variable frequency from a fixed voltage fixed
frequency line supply.
Power components are the keystone of speed -
control and progress made in recent years has Diode NPN Thyristor
led to the development of cost-effective variable transistor
speed drives.
Reminder
+ –
Semiconductor materials such as silicon have a
resistivity between that of conductors and that of I
insulators. Their atoms have 4 peripheral
electrons. Each atom associates with 4 adjacent GTO IGBT MOS
atoms to create a stable 8-electron structure.
A P type semiconductor is obtained by adding to
Fig. 11 : Power components
pure silicon a small proportion of a substance
whose atoms have 3 peripheral electrons.
Another electron must therefore be added to It behaves like a diode in sending an electrical
create a structure with 8 electrons, which results pulse on a control electrode known as a “gate”.
in a surplus of positive charges. This closing (or firing) is only possible if the anode
An N type semiconductor is obtained by adding is at a voltage more positive than the cathode.
a substance whose atoms have 5 peripheral The thyristor changes to the off state when
electrons. This therefore creates a surplus of current ceases to pass through it.
electrons, i.e. a surplus of negative charges.
The firing energy to be supplied to the gate is
The diode independent of the current to be switched. It is
The diode is a non-controlled semiconductor not necessary either to maintain a current in the
comprising 2 regions, P (anode) and N gate while the thyristor is conducting.
(cathode), which will only permit current to be The main characteristics of the thyristor are as
conducted in one direction, from the anode to follows:
the cathode. c In the on state:
It conducts current when the anode voltage is at v A composite voltage drop from a threshold
a higher positive value than that of the cathode voltage and an internal resistance
and therefore behaves like a closed switch. It v A maximum permissible continuous current
blocks the current and behaves like an open (order of magnitude up to 5000 A rms for the
switch if the voltage at the anode becomes less most powerful components)
positive than that at the cathode.
c In the off state:
The main characteristics of the diode are as v A maximum permissible reverse and forward
follows: voltage (may exceed 5000 V peak). Forward and
c In the on state: reverse voltages are usually identical
v A drop in the voltage composing a threshold v A recovery time that is the minimum time
voltage and that due to an internal resistance during which, if a positive anode cathode voltage
v A maximum permissible continuous current was applied to the component, it would refire
(order of magnitude up to 5000 A rms for the spontaneously
most powerful components) v A gate current that will fire the component
c In the off state, a maximum permissible Some thyristors are designed to operate at
voltage that may exceed 5000 V peak the line supply frequency and others, known
as “high-speed” thyristors, will operate
The thyristor at several kHz using an extinction circuit.
This is a controlled semiconductor comprising Some high-speed thyristors have
four alternate layers: P-N-P-N. asymmetrical forward and reverse cut-off voltages.
U motor I motor
t t
Torque
T/Tn
1.75
2
1.50
1.25
1
0.95
1b 1a
0.75
3
0.50
0.25
0 Finverter
0 50 100 150 200 % F
line supply
Current Voltage
limits limits
Idlim Iqlim Vdlim Vqlim
Forward current Forward voltage
reference reference
Magnetizing Idref Forward
Vdref
current current Vc
(d,q)
loop Voltage
Quadrature Quadrature Vb
reference Motor
Speed current voltage Va
reference reference generator
Quadrature reference
(a,b,c)
Ωcons Speed Iqref current Vqref
loop loop
θs
Phase
angle
Speed Ωest θs
1/g
estimate θs
Speed Ωcor Slip Ωcom
correction compensation Forward and (a,b,c)
quadrature currents
Id
Iq Ia , Ic
(d,q)
Forward
current
Flux reference reference
(internal reference) Estimation
Φsetp and regulation Idref
of flux
Ωm Vd, Vq
Id , I q
Encoder
Fig. 18 : Simplified schematic of a drive with flux vector control with sensor
Fig. 20 : Respective performance levels for a drive in the three possible configurations
(Telemecanique ATV58F type)
a- b-
T Tr = kN 2 T
1
Un = 100% Tr linear
2
Un
U2 = 85%
3
U1 = 65%
4 U
0 N 0 N
0 NS
N1 N max ∆ua Un
N2 NS U4 N max
Fig. 22 : Available torque for an asynchronous motor powered at variable voltage and a parabolic resistive torque
load (fan) [a] - squirrel cage motor, [b] - resistive cage motor
The motor
The motor rotor is fitted with rare earth permanent
magnets in order to achieve increased field
strength in a reduced volume. The stator
features three-phase windings. These motors Fig. 23 : Photograph of a synchronous motor-drive
can tolerate significant overload currents in order (Schneider Electric Lexium servodrive + motor)
to achieve high-speed acceleration. They are
fitted with a sensor in order to indicate the
angular position of the motor poles to the drive, A common DC source powers this drive
thereby ensuring that the windings are switched. assembly in parallel.
This type of installation enables the energy
The drive generated by the braking of one of the axes to
In design terms, the drive operates in the same be made available to the assembly.
way as a frequency inverter. As in frequency inverters, a braking resistor
It also features a rectifier and an inverter with associated with a chopper can be used to
pulse width modulation (PWM) transistors, which dissipate the excess braking energy.
restores an output current in sine form. The electronics servocontrol functions, low
It is common to find several drives of this type mechanical and electrical time constants, permit
powered by a single DC source. Therefore, on accelerations and more generally passbands
a machine tool, each drive controls one of the that are very high, combined with simultaneous
motors connected to the machine axes. high speed dynamics.
+ DC
Motor
The drive
In design terms, the drive is similar to a i
frequency inverter (rectifier, filters and bridge U/R
comprising power semiconductors).
However, in terms of operation, it is In
fundamentally different insofar as its purpose is
to inject a constant direct current into the
windings. Sometimes, it uses pulse width
modulation (PWM) to improve performance
levels, in particular the rise time of the current 1 step t
(see Fig. 25 ), which enables the operating
range to be extended. u
Micro-step operation (see Fig. 26 ) can be used U
to artificially multiply the number of possible
positions of the rotor by generating successive
steps in the coils during each sequence. The
currents in the two coils therefore resemble two
alternating currents offset by 90°. The resulting t
field is the vector composition of the fields
created by the 2 coils. The rotor therefore takes Fig. 25 : Current form resulting from PWM control
B1 I1
B1
0.86
0.5
B2 t
I2
B2
Fig. 26 : Diagram, current curves and step principle for micro-step control of a stepper motor-drive
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