Sa DrivesTechnology

A. DRIVE TECHNOLOGY IN IND.
AUTOMATION
A.01 DC MOTORS SPEED CONTROL RELATIONS
n: Revolutions per minute

V  RiI
n V: Armature voltage
K
Ri: Armature internal resistance
I: Armature current
C  K I K: Constant value
Ø: Field flux
C: Torque
P  VI  RiI 2 P: Power
This document contains proprietary information of Danieli Automation S.p.A. not disclosable, not reproducible. All Rights Reserved
A. DRIVE TECHNOLOGY IN IND.AUTOMATION
A.02 SPEED CONTROL CHARACTERISTIC

V armature
V max
CONSTANT
POWER
CONSTANT
TORQUE
Base n max
RPM
Speed
Power
Torque
A.03 AC MOTORS SPEED CONTROL RELATIONS
V n: Revolutions per minute

V max f: Frequency
p: Number of poles
C: Torque
V: Voltage
I: Current
K: Constant value
P: Power
Φ: Flux
n max
f
Speed Torque Power Flux

120 f 60 V
n C P P  3VI cos 
p 2n f
A.04 AC/AC CONVERTER BASIC FUNCTION SCHEME
Converter
Rectifier Intermediate Inverter
AC/DC Circuit DC/AC
Motor
Control and regulation card
Network connection Intermediate circuit

380V, 3ac Vdc = Vac x 1,35 Variable voltage and
frequency
A.05 AC/DC CONVERSION
FIX DC VOLTAGE VALUE
Vdc
Vac
Vdc = Vac x 0,9
Vdc = Vac x 1,35
AC/DC converter with diodes
VARIABLE DC VOLTAGE VALUE
Vdc
Vdc =0 ÷ Vac x 1,35
Vac
Or IGBT
AC/DC converter with Thyristors
A.06 AC/DC CONVERTER BASIC FUNCTION SCHEME
Network connection:
e.g. 3 AC, 400V
Armature
R S T
/R R
/S
Network
connection S 3
Vout  2  Vin

Field
/T T Vout  1,35  Vin
A.07 AC/DC CONVERSION
SUPPLY VOLTAGE I
Anode Cathode
GATE COMMAND
V in Gate V out
OUTPUT VOLTAGE
A.08 THIRYSTOR BASIC THEORY OF OPERATION
FUNCTIONS PARAMETRS
- CONVERT AC INTO DC VOLTAGE - CURRENT
- ONE WAY CONDUCTION - VOLTAGE
- CONDUCTION CONTROLLED VIA GATE - TEMPERATURE
- SWITCH OFF BY REVERSING POLARITY
CHARACTERISTICS OF A REVERS
BLOCKING THYRISTOR SYMBOL
ANODE
GATE CATHODE
A.09 THIRYSTOR CONVERTING DIAGRAM
TS RS RT ST SR TR TS RS RT ST
R S T
/R R
/S S
R
/T T
S
/R
/S
/T
A.10 AC/DC CONVERTER OUT PUT VOLTAGE
Peak
V RMS Forward
V Min Voltage
A.11 DC/AC CONVERSION
A+ B+ C+
Vdc
M
A- B- C-
A.12 AC/AC CONVERTER TYPOLOGY
CURRENT SOURCE
INVERTER (CSI)
VOLTAGE SOURCE
INVERTER (VSI)
A.13 P.W.M. MODULATION
Example of inverter output voltage

modulation.
f/2
PWM Technology
(PULSE WIDE MODULATION)
A.14 CONCEPT OF VECTOR CONTROL INVERTER
To increase performances, at the inverters is added the motor torque
control by tuning the current supplied. It includes amplitude and phase
current regulation, so the meaning of “vector control”. Besides the a.c.
motor require the control of the spatial positions of the magnetic fields.
Due to this inverters are also defined as “field oriented”.
TYPES OF VECTOR CONTROLS

DIRECT FIELD ORIENTED
VSI
VSI current regulated
CSI
INDIRECT FIELD ORIENTED
VSI
CSI
A.15 COMMUTATION DEVICES
SYMBOLS ACRONYM DESCRIPTION
SCR THYRISTOR
GTO Gate Turn-off Thyristor
IGCT Integrated Gate Commutated Thyristor
IGBT Insulated Gate Bipolar Transistor
IEGT Injection Enhancement Gate Transistor
A.16 AC/DC CONVERTER BASIC BLOCK DIAGRAM
ARMATURE
SPEED TORQUE CURRENT GATING

RAMP CONTROL LIMITS CONTROL
SET POINT UNITS
PRE CONTROL
SET POINT
EMF CURRENT GATING
CONTROL CONTROL UNITS
M
FIELD
A.17 AC/DC Converter closed loop controls
The armature control includes two closed loop PID

regulators, speed and current. Speed feedback can
be done with:
• Tachogenerator.
• Encoders.
• Resolvers.
• Armature voltage signal.
A.18 SPEED SET POINT
Depending by the drive type and manufacture a

wide range of possibilities are available:
• Configurable analog voltage and/or current input

• Pre selectable internal fix set point
• Motopotentiometer function
• Jog speed set point
• Set via serial communication port
• Cascade from an other drive
• Frequency input
A.19 RAMP GENERATOR
The main function of the ramp generator is to

accelerate and decelerate the motor’s speed with
selected time constant to the set point value.
Futures:
• ON/OFF function enable.

• Multiple accelerating/decelerating selectable values.
• Run function in emergency.
• Smooth action.
• Tracking. (Controls the deviation between set and actual
speed once the torque or current limit has been reached).
A.20 SPEED CONTROL BLOCK DIAGRAM
A.21 SPEED CONTROL BLOCK DIAGRAM
A.22 TORQUE LIMITS
The function of torque reference and limits block is

to form a desired reference for the current
regulation.
Futures:
• Selectable reference set.

• External reference set.
• Load sharing. (Master/Follower)
• Output limits.
• Speed depended current limitation.
A.23 CURRENT CONTROL BLOCK DIAGRAM
Actual current
Torque
Current
Summer Current reference

Current limits Current gains Alpha limits
slope
A.24 EMF CONTROL BLOCK DIAGRAM
A.25 BLOCK DIAGRAM OF VSI INVERTER

DIRECT FIELD ORIENTED WITH CURRENT CONTROL
AC/DC
A.26 DC BUS VOLTAGE CONTROL
Different kinds of braking are available for multiple

quadrants applications:
• Non-regenerative braking with monodirectional

diode/thyristor bridge and chopper unit
• Regenerative braking with anti-parallel thyristor bridge

and autotransformer
• Regenerative braking with Active Front End unit (AFE).
A.27 NON-REGENERATIVE BRAKING
• Suitable for -L0
small powers
and/or -Q1
occasional -U2 -U1
braking
• The cheapest P
solution
-U3...Um
-F1...Fn
-D1
-R3...Rm
A.28 REGENERATIVE BRAKING WITH REGENERATIVE
UNIT
• Suitable for large

powers and/or
frequent braking
• More complexity
• Harmonic
generation as with
AC/DC converter
• Not suitable for
unstable net (net
sags, etc.)
A.29 A.F.E.
Possible
configurations:
•Harmonics compensation
•Reactive power compensation
•Cos (phi) control
•Current control
A.30 EXAMPLE OF COMMON DC BUS
AC/DC/ DC/AC
AC/DC
AC
DC/AC DC/AC DC/AC DC/AC
M M M M

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A. DRIVE TECHNOLOGY IN IND.

n: Revolutions per minute

A.02 SPEED CONTROL CHARACTERISTIC

V n: Revolutions per minute

Speed Torque Power Flux

Control and regulation card

Network connection Intermediate circuit

AC/DC converter with diodes

VARIABLE DC VOLTAGE VALUE

AC/DC converter with Thyristors

A.12 AC/AC CONVERTER TYPOLOGY

Example of inverter output voltage

TYPES OF VECTOR CONTROLS

GTO Gate Turn-off Thyristor

IGCT Integrated Gate Commutated Thyristor

IGBT Insulated Gate Bipolar Transistor

IEGT Injection Enhancement Gate Transistor

SPEED TORQUE CURRENT GATING

The armature control includes two closed loop PID

Depending by the drive type and manufacture a

• Configurable analog voltage and/or current input

The main function of the ramp generator is to

• ON/OFF function enable.

The function of torque reference and limits block is

• Selectable reference set.

Summer Current reference

A.25 BLOCK DIAGRAM OF VSI INVERTER

Different kinds of braking are available for multiple

• Non-regenerative braking with monodirectional

• Regenerative braking with anti-parallel thyristor bridge

• Regenerative braking with Active Front End unit (AFE).

• Suitable for -L0

occasional -U2 -U1

• Suitable for large

•Reactive power compensation

•Cos (phi) control

DC/AC DC/AC DC/AC DC/AC

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