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Sinamics Sinamics: G130 / G150 / S150 / S120
Sinamics Sinamics: G130 / G150 / S150 / S120
Topics
System
overview
Types of open and closed loop control
Technical data
Power Block
Vector control with encoder
Mechanical
system
Sensorless vector control
Motors
Options V/Hz-control
General control
Further functions
Closed-loop
Closed-loop
control
control
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© Siemens AG 2008 – Subject to change without prior notice
Closed-loop control
A comparison of the different closed-loop control types
Control type V/f open-loop control Closed-loop Vector control Closed-loop Vector control
without nact encoder with nact encoder
System Features
overview
Speed accuracy
Mechanical • low speed Low Average High
system • high speed Low High High
Closed-loop
Closed-loop Group drives Suitable For mechanical For mechanical
control
control couplings couplings
Tools Commiss. Applications Group drives also Pumps, fans, Test stands, cranes,
pumps, fans, compressors, extruders, shears, presses,
Communication compressors, textile mixers, mills, centrifuges conveyor belts, cable
applications winches
Diagnostics
Application
Depending on the drive task, the user can select the optimum closed-loop control type.
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© Siemens AG 2008 – Subject to change without prior notice
Control type V/Hz characteristic Vector control Vector control with Servo control
System without nact-encoder without n encoder nact
Features act
overview encoder
Technical data Dynamic response Low Low up to high High Extremely high
Rise times High Medium Low Extremely low
Power Block
Speed accuracy Low Medium High High
-low speed Low High High High
Mechanical -high speed
system
Positioning accuracy --- --- High Extremely high
General control Group drives Suitable When mechan- When mechan- ---
ically coupled ically coupled
Closed-loop
Closed-loop Applications Pumps, fans, Pumps, fans, Production Machine tools
control
control compressors compressors, machines
conveyor belts,
Tools Commiss. centrifuges
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© Siemens AG 2008 – Subject to change without prior notice
System
3 1. The drive is controlled using the CU320 Controller
overview Unit (spare part)
2. The software and the actual drive parameterization
Technical data 4 are saved on a “Compact Flash“ memory card (spare
Power Block 1 part)
3. The Controller Unit is connected to the power section
and the terminal module through the internal “DRIVE
Mechanical
CLiQ“ communications.
system 6 4. Internal cabinet signals are connected to the digital
Motors I/O.
5. Communications to the cabinet operator panel are
Options 2 realized via PPI (RS232 point-to-point-interface) .
6. A PROFIBUS DP interface with PROFIdrive profile V3
General control 5 is available for communications to a higher-level
master system.
Closed-loop
Closed-loop
control
control Feature Customer benefits
Tools Commiss. Modular cabinet design up to the controller Components can be easily exchanged/replaced
Communication Unified platform for all Sinamics High quality and performance
Unified software basis Minimum training required
Diagnostics
Application CU automatically recognizes the power section Closed-loop control is defined for „pump drive“
Software and parameters on memory card Data security when replacing a controller
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© Siemens AG 2008 – Subject to change without prior notice
System Overview
Closed-loop control functions
Options
Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice
Closed-loop control
Closed-loop and open-loop control modes
For applications with the highest speed / torque
Vector control accuracy for a wide control range
Closed-loop control mode, Vector P1300 Active current =
System
overview Closed-loop speed control without encoder 20 torque
i
Closed-loop speed control with encoder 21 current
Technical data iq
Closed-loop torque control without encoder 22
Power Block Closed-loop torque control with encoder 23 id Field current =
magnetizing current
Mechanical
system
V/f control For group drives
Motors
Open-loop control mode V/f P1300
With linear characteristics 0
Options U [V]
With linear characteristics and FCC 1
With parabolic characteristics 2
General control
With parameterizable characteristics 3
Closed-loop
Closed-loop For drives with high frequency accuracy in the textile sector 5 f [Hz]
fn
control
control For drives with high frequency accuracy with FCC 6
With independent voltage setpoint 19
Tools Commiss.
Communication
Diagnostics The software of the SINAMICS S150 provides a wide range of modes for
Application open-loop/closed-loop control.
Parameter P1300 is used for easy basic parameterization.
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© Siemens AG 2008 – Subject to change without prior notice
Closed-loop control
Closed-loop Vector control
Open-loop
SINAMICS S150 /G150 / G130 Motors
control
System
overview Motorized Closed-loop Vector control
potentiometer
Technical data
Fixed value High speed stability
Power Block Analog setpoint With encoder or sensorless
Closed-loop torque control with Induction
SIMOTION load equalization control for
Mechanical
master-slave drives, e.g. for motor
system
continuous material webs,
Motors SIMATIC S7 gantries, …
Speed Current M
Options controller controller
Third-party
General control control n i
Closed-loop
Closed-loop
control
control Advantages of closed-loop Vector control
Stability during load and setpoint changes
Tools Commiss. Short rise times for setpoint changes ( improved control characteristics)
Communication Short equalization times for load changes ( improved behavior/response to
noise/disturbance)
Diagnostics
Accelerating and braking are possible with the max. adjustable torque
Application The motor is protected using the selectable torque limit
Closed-loop control of the drive and braking torque is independent of the speed
Full holding torque is possible
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sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice
Options
w stator frequency
General control w i w i stator current
i i im magnetizing current
Closed-loop
Closed-loop iw ib iw active current
control
control F e load angle
ee
ee g flux angle
Tools Commiss.
im F g ia
Communication
Diagnostics The magnetizing current of the stator generates the flux.
Application
The flux induces a voltage in the rotor which causes the active current.
The active current
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with the flux and generates the torque. I DT LD
© Siemens AG 2008 – Subject to change without prior notice
System
Speed Current controller,
overview
controller active current
nset Iset, q
Technical data n Coordinate
transformation
Power Block - nact - Iist, q
P Vset
Field Current controller,
Mechanical K Phi
controller field current
system Φset Iset, d
Φ
Motors
act - Iact,d Motor model IUVW
Options
General control M
Closed-loop
Closed-loop
control
control
G
Tools Commiss. A speed encoder is used for closed-loop Vector control:
Communication When a high demand is placed on the speed accuracy
High demands are placed on the dynamic response (control behavior, behavior to
Diagnostics noise/disturbances)
Application Closed-loop torque control is required in a control range greater than 1:20
A defined and/or changing torque must be maintained for speeds that constantly
remain below approx. 5 % sin-g150-4-08-e.ppt
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© Siemens AG 2008 – Subject to change without prior notice
System
overview
Technical data
Power Block
0,2..2s
Change of Magnetizing current Rotorflux
Mechanical of the stator
voltage U
system
Motors i Individual
i iWirk
control
Options iWirk
iFeld iFeld
General control 5..50ms
Dynamic Change of Control of
Closed-loop
Closed-loop change of active current and the torque
control
control frequency f load angle
Tools Commiss. Flux and torque can be controlled individually.
Communication Rated flux at any torque offers an immediate response to full torque
Possibility of optimizing power consumption for square-law load torque in the partial
Diagnostics
load range.
Application Improved dynamic response in torque control.
Reliable control even at high speed.
High accuracy of speed even
Version:19.11.2008 in sensorless operation.
sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice
Closed-loop control
Closed-loop Vector control without encoder (SLVC)
Rotor
System active current
overview Speed Current controller,
controller active current
Technical data Iset, q
n nset
Coordinate
Power Block - nact - Iact, q
transformation
P Vset
Mechanical Field Current controller,
K Phi
system controller field current
set Iset, d
Motors
act - Iact,d Motor model
Options IUVW
General control
Closed-loop
Closed-loop Stator M
control
control
field current
Stator current is
Tools Commiss.
Torque-gen. current iq
Communication Flux-generating current id
Diagnostics
Sensorless closed-loop Vector control (without encoder)
Application For single-motor drives using high-rating induction motors,
From low up to high requirements placed on the dynamic response,
For speed control ranges sin-g150-4-08-e.ppt
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© Siemens AG 2008 – Subject to change without prior notice
System
overview
Technical data
Power Block
Mechanical
system
Motors
Features at low speed: Sensorless Vector control with the
Options
The position of the flux and the actual speed following essential features:
is only determined via the motor model Starts in the closed-loop controlled
General control The model is supported by the accessible mode (directly after the drive has
Closed-loop
Closed-loop currents and voltages. been excited)
control
control At low frequencies (around 0 Hz), the model Passes through the low frequency
is not in a position to determine the speed. range (around 0 Hz) in the closed-
Tools Commiss. This is the reason that in this range, a loop controlled mode!
Communication changeover is made from closed-loop Continuous closed-loop controlled
controlled into open-loop controlled operation. operation from approx. 5 % fn.
Diagnostics
Application The high-performance Vector control allows the open-loop controlled range at low
frequencies to be kept extremely narrow – this is the reason that many applications do not
require an encoder.
Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice
Closed-loop control
V/f open-loop control
Open-loop
System SINAMICS S150 Motors
overview
control
Motorized V/f control
Technical data
potentiometer
Power Block Fixed value Sensorless (no encoder)
Terminals Basic synchronous operation for Induction,
Mechanical group drives, e.g. using reluctance,
system Siemosyn motors in the textile synchronous
SIMOTION sector
(Siemosyn)
Motors For auxiliaries on machines
(pumps, fans, …)
Options
SIMATIC S7 V M
General control
Closed-loop
Closed-loop
Third-party
control
control control
Tools Commiss. f
Communication
Diagnostics
V/f open-loop control for a standard solution for basic drive tasks
Application For group drives,
Motors with power ratings less than 25% of the drive converter power,
For testing during the commissioning
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sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice
Closed-loop control
V/f control: Example of the control function Vd max
correction
V/f
Voltage
System V V
overview
f + +
RFG - +
Technical data
nset f f Frequency
Power Block
n + +
- +
Mechanical
system f>fs f<fs
Parabolic characteristics Imax
Current I*R Slip
Motors limiting compensation compensation
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© Siemens AG 2008 – Subject to change without prior notice
Starting functions
Closed-loop
Closed-loop
control
control Line failure / fault
Acknowledge without restart
Tools Commiss.
Acknowledge with 1 restart
Communication Acknowledge with n restart
Diagnostics
Application
Starting functions for increased availability and a higher degree of user-friendliness.
Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice
Commissioning functions
Energy functions
Options
Vdc max Vdc min
General control
Closed-loop
Closed-loop
control
control
Tools Commiss.
Communication Extended down ramp as Regenerative operation in
Diagnostics
function of the Vdc case of power failure
Application Energy functions increase the availability and reliability.
Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice
Protective functions
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© Siemens AG 2008 – Subject to change without prior notice
Test functions
Mechanical
system
Motors
Options
General control
Closed-loop
Closed-loop
control
control
Tools Commiss.
Communication
Diagnostics
Application
Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD