1 09 Control PDF

Open loop and Closed Loop Control
Training objectives:
• You are familiar with the types of
control of SINAMICS
• You understand the principle of

operation of the V/Hz control and of
the closed loop speed control with
and without encoder
• You know where to find essential

settings related to speed control
and torque limiting
SINAMICS Date:
File:
06/03/2007
ABU DHABI: Page 9 - 1
SITRAIN Training for
Automation and Drives
Siemens AG 2007. All rights reserved.

Content Page
Comparison of available types of control.......................................................................................... 4
Available types of control for operating types Servo and Vector........................................................ 5
Equivalent circuit and vector diagram of an induction motor.............................................................. 6
Measurement at standstill................................................................................................................. 7
“Running measurement” and optimization of the speed controller..................................................... 8
Automatic optimization for operating type “Vector“............................................................................ 9
Equivalent circuit and vector diagram of a synchronous motor.......................................................... 10
Standstill- and running measurement (under preparation)................................................................. 11
V/Hz characteristic of the induction motor......................................................................................... 12
Operating type “Vector“, V/Hz control, characteristics [6300]......................................................... 13
Operating type “Vector“, V/Hz control............................................................................................... 14
IxR-comp. / flux current control / slip-comp. / current limiting............................................................. 15
Trace samples for V/Hz control........................................................................................................ 16
Operating type “Vector“: sensorless vector control (SLVC) / ASM.................................................... 17
Torque setpoint in open, closed loop control [710]........................................................................... 18
Operating type ”Vector”: sensorless vector control at 0 Hz / ASM..................................................... 19
Operating type ”Vector”: encoder-based vector control (VC) / ASM................................................. 20
continued on page 3
SINAMICS Date:
File:
06/03/2007
Content Page
Encoder interface SMC30................................................................................................................ 21
Trace samples for speed control....................................................................................................... 22
Control scheme for AC-drives.......................................................................................................... 23
Speed and current control................................................................................................................ 24
Speed controller [6040]................................................................................................................... 25
Torque setpoints [6060]................................................................................................................... 26
Torque limits [1700]......................................................................................................................... 27
Torque limits.................................................................................................................................... 28
Torque limits [706].......................................................................................................................... 29
Current controller............................................................................................................................. 30
SINAMICS Date:
File:
06/03/2007
Comparison of available types of control

Type of V/Hz Type Vector Type Vector Type Servo
control characteristic without encoder with encoder with encoder
Properties ( SLVC ) (speed control ) (high resolution)
Dynamic low medium to high high very high
Rise time high medium low very low
Speed accuracy
• low speed low medium high high
• high speed low high high high
Position accuracy --- --- limited very high
Optimizing manual menu prompted menu prompted manual
High power rating not so suitable very suitable very suitable suitable
Group drives suitable when mechanically when mechanically ---
coupled coupled
Applications group drives, pumps, fans, production machines machine tools and
pumps, fans, compressors, production machines
compressors extruders, mixers,
centrifuges
S120 / S150 / G150 S120 / S150 / G150 S120 / S150 / G150 S120
The type of control required for a particular application is set by one parameter.
SINAMICS Date:
File:
06/03/2007
Available types of control for operating types Servo and Vector
Operating type Servo / S120 Operating type Vector / S120, S150, G150
Type of closed loop control: Servo P1300 Type of close loop control: Vector P1300
¾ Speed control without sensor 20 ¾ Speed control without sensor 20
¾ Speed control with sensor 21 ¾ Speed control with sensor 21
¾ Torque control without sensor 22
¾ Torque control with sensor 23 ¾ Torque control with sensor 23
Open loop control: V/Hz P1317 Open loop control: V/Hz P1300
¾ V/Hz control for test operation 1 ¾ With linear characteristic 0
¾ With linear characteristic and FCC 1
¾ With parabolic characteristic 2
¾ With programmable characteristic 3
¾ For frequency synchronous drives (“textile”) 5
synchronous-
synchronous- ¾ For frequency synchronous drives with FCC 6
servo
servo motor
motor induction-
induction- torque-
torque- linear-
linear- ¾ With independent voltage setpoint 19
(perm.
(perm. excit.)
excit.) servo
servo motor
motor motor
motor motor
motor
starting with V2.2: limited mixed operation of Servo / Vector

Servo / P1300 = 20 sensorless induction motor (simple applications)
permanently excited SYN (for n>0.2 n.rated)
induction-
induction- P1317 = 1 only induction motors induction-
induction-
motor
motor Vector / P1300 = 5, 6 for reluctance motors motor
motor
SINAMICS Date:
File:
06/03/2007
Equivalent circuit and vector diagram of an induction motor

j X.σS i.S
R.S i.S
u.S EMK
EMF
ϕ .S
i.S
i'.R i.Sq
i.μ
i.Sd
Φ.H
SINAMICS Date:
File:
06/03/2007
Measurement at standstill
Selection of the
measurement
at standstill
(motor – ident.)
with p1910
During
During the
the standstill
standstill measurement
measurement the the values
values mentioned
mentioned under
under “...
“... motor
motor identification...“
identification...“ are
are measured;
measured;
the
the cable
cable resistance
resistance R.cable
R.cable has
has to
to be
be entered
entered before
before starting
starting the
the standstill
standstill measurement.
measurement.
SINAMICS Date:
File:
06/03/2007
“Running measurement” and optimization of the speed controller
Selection of the “running

measurement” (speed
controller optimization)
with p1960
Data identified during the “running measurement”:

Possible with decoupled load as well
- magnetizing current (p0320)
- magnetizing characteristic (p0362 – p0369)
Possible only with “inert masses“ coupled
- moment of inertia of the motor / overall (p0342)
- pre-control acceleration (p1496)
- speed controller settings (p1470, p1472)
SINAMICS Date:
File:
06/03/2007
Automatic optimization for operating type “Vector“
Motor
Motor identification
identification and and speed
speed controller
controller optimization
optimization
p1900
p1900 == 00 :: inhibited
inhibited
p1900
p1900 == 11 :: sets
sets p1910
p1910 == 11 and
and p1960
p1960 == 0,
0, 1,
1, 22 (according
(according to
to p1300)
p1300)
(1.
(1. identification
identification of
of motor
motor data,
data, 2.
2. controller
controller optimization
optimization with
with rotating
rotating motor)
motor)
p1900
p1900 == 22 :: sets
sets p1910
p1910 == 11 (autom.
(autom. ident.
ident. of
of p0350,
p0350, p0354,
p0354, p0356,
p0356, p0358,
p0358, p0360,
p0360, p1825,
p1825, p1828)
p1828)
Selection of the 0: Inhibited
motor data 1: Complete identification and acceptance of motor data
identification 2: Complete identification of motor data without acceptance
with p1910: 3: Identification of the saturation characteristic and acceptance
4: Identification of the saturation characteristic without acceptance
5: Identification of dynamic leakage inductance Lsig (r1920) without acceptance
6: Identification of lockout time (r1926) without acceptance
7: Identification of stator resistance Rs (r1912) without acceptance
8: Identification of stator inductance Ls (r1915) without acceptance
9: Identification of rotor time constant Tr (r1913) without acceptance
10: Identification of static leakage inductance Lsig (r1914) without acceptance
20: Voltage vector input
Selection of the 0: Inhibited

speed 1: Speed controller optimization for sensorless operation: p1400.0,p1458/1459,p1470/1472,p1496
controller 2: Speed controller optimization with encoder: p1458,p1459,p1460,p1461,p1462,p1463,p1496
optimization Speed controller optimization configuration with p1959
with p1960: 00 Enc test active
01 Saturation characteristic identification p0320, p0360, p0362 ... p0369
02 Moment of inertia identification p0341, p0342
03 Recalculates the speed controller parameters p1400.0, ...
04 Speed controller vibration test
Speed controller optimization speed p1965 = 50% (10 .. 75%)
Speed controller optimization dynamic factor p1967 = 100% (1 .. 400%)
SINAMICS Date:
File:
06/03/2007
Equivalent circuit and vector diagram of a synchronous motor
ΔU
U.P
i.sq i.1
U.1
Φ
i.sd
ΔU
U.P
U.1
i.sq = i.1
Φ Φ
i.sd = 0
SINAMICS Date:
File:
06/03/2007
Standstill- and running measurement (under preparation)
SINAMICS Date:
File:
06/03/2007
V/Hz characteristic of the induction motor
i.S R.S X.σS X '.σR R '.R / s i '.R

U/V
400 i.μ
u.S in general
allgemein
EMK
EMF X.H
Feld-
field
weakening
schwächung
i.S R.S X.σS
i.μ idealized
ideeller Leerlauf
no-load operation
(Schlupf s = 0)
u.S (slip = 0)
EMF
EMK X.H i.μ = i.S
50 f / Hz
Φ
( i.μ )
100%
u.S = R.S i.S + j X.σS i.S + j X.H i.S
Feld-
field
weakening
schwächung mit (zunächst)
if R.S Vernachlässigung
is (initially) disregarded: von R.S folgt
u.S = j 2 π f ( L.σS + L.H ) i.S
50 f / Hz
i.S = i.μ = u.S / f 2 π ( L.σS + L.H )
SINAMICS Date:
File:
06/03/2007
Operating type “Vector“, V/Hz control, characteristics [6300]
SINAMICS Date:
File:
06/03/2007
Operating type “Vector“, V/Hz control
V/Hz
voltage
V U
f + +
RFG - +
f frequency
nset f
n + +
- +
Imax
FCC / I * R slip
current limit
compensation compensation
- Iact Ix(RS;LσS) IxRCable slip
current actual value sensing
SINAMICS Date:
File:
06/03/2007
IxR-comp. / flux current control / slip-comp. / current limiting
IxR-comp. FCC
i=0 : M prop. n 2 M
380V 380V 380V / 50Hz
i=iN : 405V 400V 380V / 50Hz P prop. n 3
i.Last
i.load
Pumpen
pumps i.max
i.max
fans
Lüfter
centrifuges
Zentrifugen
n;f
M = konstant
constant M
f.slip
f.Schlupf
P prop. n
i.Last
i.load
hoisting
Hebezeuge i.max
conveyer belts
i.max
Fließbänder
“steel mills”
"Walzwerke"
n;f
SINAMICS Date:
File:
06/03/2007
Trace samples for V/Hz control
step of reference speed
step of load / without slip compensation step of load / with slip compensation
SINAMICS Date:
File:
06/03/2007
Operating type “Vector“: sensorless vector control (SLVC) / ASM
Torque generating
j X.σS i.S
current in the rotor
speed torque current

controller controller
nset Iset, q
coordinate R.S i.S
transformation
- nact - Iact, q
P Uset
field field current u.S EMF
EMK
K Phi
θset Iset, d ϕ .S
- θact
- Iact,d motor model IUVW
i.S
i'.R i.Sq
Field generating M
current in the stator i.μ
Stator current is
i.Sd
Torque gener. current iq
Field gener. current id Φ.H
Sensorless Vector Control

¾ for standalone induction motors of high power ratings and medium to high dynamic performance.
¾ for a speed range up to 1:20. (> 2.5 % fn)
SINAMICS Date:
File:
06/03/2007
Torque setpoint in open, closed loop control [710]
Is set to zero in
open loop control
current
controller
SINAMICS Date:
File:
06/03/2007
Operating type ”Vector”: sensorless vector control at 0 Hz / ASM
zero crossing
¾The position of the flux-vector and the actual speed Unique features of the sensorless
are only determined via motor model. vector control of SINAMICS:
¾The model bases its calculation on the accessible ¾ Transition through the range of low
currents and voltages. frequencies (around 0 Hz) in closed-
¾At low frequencies (around 0 Hz), the model is not loop control
able to determine flux and speed with sufficient ¾ Open-loop control operation after
accuracy. For longer than very temorary operation in parameterizable delay time (max 2
this range, a changeover from closed-loop control sec.) at low frequencies (min. 1 Hz).
to open-loop control is inevitable.
The high-performance sensorless vector control allows to keep the range of open loop
control at low frequencies very small; thus many applications do not require an encoder.
SINAMICS Date:
File:
06/03/2007
Operating type ”Vector”: encoder-based vector control (VC) / ASM
speed torque current

nset Iset, q
coordinate
transformation
- nact - Iact, q
P Uset
field field current
K Phi
θset Iset, d
- θact - Iact,d motor model IUVW
Closed-loop vector control with encoder is required for

¾ very high accuracy of the speed
¾ very dynamic applications (step of reference, step of load)
¾ torque control of a control range beyond than 1:20
¾ operation below approximately 5 % of the rated motor frequency p0310 if a high dynamic or static
accuracy of torque or speed are required
SINAMICS Date:
File:
06/03/2007
Encoder interface SMC30
• The SMC30 evaluates TTL / HTL encoder signals and a KTY sensor.
• In case of signal loss, an automatic changeover to “sensorless” operation can be
requested (p0491 / fault is monitored, drive maintains operation).
• The sequence of “running measurement / encoder test” can be influenced via p1959.
SINAMICS Date:
File:
06/03/2007
Trace samples for speed control
step of reference (low dynamic) step of reference (medium dynamic)
step of load (low dynamic) step of load (medium dynamic)
SINAMICS Date:
File:
06/03/2007
Control scheme for AC-drives
torque pre-control
speed pre-control
power unit
position speed current motor
PWM encoder
xset nset Iset
M G
- xact - nact - Iact
IU
Iq Iα
motor 2 IV ωM
Id Iβ
model 3 IW ϕM
speed rotor position

position
KV...gain KP…gain KP…gain encoder

TN…int.time TN...int.time evaluation
SINAMICS Date:
File:
06/03/2007
Speed and current control
speed controller torque setpoint torque limit
DRIVE CLiQ
current setpoint filter current controller
power unit
SINAMICS Date:
File:
06/03/2007
Speed controller [6040]
SLVC VC
p1470 p1460
p1472 p1462
SINAMICS Date:
File:
06/03/2007
Torque setpoints [6060]
SINAMICS Date:
File:
06/03/2007
Torque limits [1700]
r0079
SINAMICS Date:
File:
06/03/2007
Torque limits
A negative value at the output

of the positive torque limit
results in an acceleration of the
drive in negative direction!
SINAMICS Date:
File:
06/03/2007
Torque limits [706]
SINAMICS Date:
File:
06/03/2007
Current controller
SINAMICS Date:
File:
06/03/2007

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Open loop and Closed Loop Control

• You understand the principle of

• You know where to find essential

Open loop and Closed Loop Control

Comparison of available types of control

Optimizing manual menu prompted menu prompted manual

starting with V2.2: limited mixed operation of Servo / Vector

Equivalent circuit and vector diagram of an induction motor

“Running measurement” and optimization of the speed controller

Selection of the “running

Data identified during the “running measurement”:

Selection of the 0: Inhibited

Equivalent circuit and vector diagram of a synchronous motor

V/Hz characteristic of the induction motor

i.S R.S X.σS X '.σR R '.R / s i '.R

i.S = i.μ = u.S / f 2 π ( L.σS + L.H )

Operating type “Vector“, V/Hz control

- Iact Ix(RS;LσS) IxRCable slip

current actual value sensing

Trace samples for V/Hz control

step of reference speed

speed torque current

Sensorless Vector Control

Torque setpoint in open, closed loop control [710]

Operating type ”Vector”: encoder-based vector control (VC) / ASM

speed torque current

- θact - Iact,d motor model IUVW

Closed-loop vector control with encoder is required for

Trace samples for speed control

step of reference (low dynamic) step of reference (medium dynamic)

step of load (low dynamic) step of load (medium dynamic)

- xact - nact - Iact

speed rotor position

KV...gain KP…gain KP…gain encoder

Speed and current control

speed controller torque setpoint torque limit

Torque setpoints [6060]

A negative value at the output

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