Schneider

Training
Institute

Asynchronous Motor Speed

Variation

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Training
Institute
Speed Drive Objective

- Obtain rotation speeds of motor different from its

rated speed

0  N  Nrated
Nrated  N  Nmax

- Satisfy demand for rated torque between zero

and rated speed

- Enable progressive acceleration of motor on-load

- Enable motor braking control

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Use of Asynchronous Motors in Speed
Variation
Training
Institute

SUPPLY SUPPLY VOLTAGE

VOLTAGE AND FREQUENCY
VARIATION VARIATION

M M
3 3

- STARTER Cage motor

Cage motor in both cases
- SPEED DRIVE - STARTER
Resistive cage motor - SPEED DRIVE
Slip ring motor

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Methods

 By variation of motor supply voltage.

 Voltage variation is achieved by use of electronic systems called:

VOLTAGE CONTROLLERS

 By variation of motor supply voltage and frequency.

 Frequency variation is achieved by use of electronic systems called:

FREQUENCY CONVERTERS

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Speed Variation by Supply Voltage and

Frequency Variation

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Supply at Variable Voltage and Frequency
Frequency Converter
Training
Institute

CAGE MOTOR It is evident that supply frequency of a

C motor can vary its speed.
f
NS 
p
The objective of this method is to obtain
Cn available motor torque that is constant
whatever the speed.
So that torque will be constant, flux in the
motor must also be constant.
10Hz 30Hz 50Hz
f
0 C  K I cos   constant
   constant
In these conditions, motor rated torque is obtained with its rated current, and this
whatever the frequency.
C  KI Si Φ  constant

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Training
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Obtaining Constant Flux
In an asynchronous motor, flux is created by the stator winding:
Im   Li
This winding is supplied by voltage U at frequency f.
At the terminals of this winding, Ohm's Law is expressed as:

Um U  ZI
Impedance of a coil supplied in AC (ignoring its resistance) is expressed as:
Lm
Z  L therefore: U  L I

 represents rotational (angular) frequency:   2fL

Current is therefore: U
I
2fL

We can therefore express flux as:

1 U Um
  Φ  cste   cste
2 f f
U
So to obtain constant flux and therefore constant torque, term must be constant
whatever the frequency variation. f
Voltage must therefore vary proportionally with frequency.

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Training
Institute
U/F (Voltage-Frequency) Ratio

The U/F ratio is justified from the equivalent classical diagram of the
asynchronous machine, ignoring its stator resistance. Though this approximation
is justified at high speed, this is not the case at low speed since Rs retains
approximately the same value while Vs is considerably lower (U/F= cste)
Vs
Vsn
To maintain Vm particularly at
1
 cste
f
3 low speed, it is necessary to take stator
4
impedance variations into account in the
/f

1
voltage/frequency ratio applied to the stator
te
s
V

Cs

2
=

Vs
m /f

1
  cste
V

4
f
f
0 fn
1/4 1/2 3/4 1

Compensation RI

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Training
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U/F Ratio
Slip compensation
no-load
on-load
Cm Cm
C1 P’2
P2
+f
Cr 2
P’1
P1
C0 +f
Cr1
ω ω
PV ωp1 ωs
GV g
Slip compensation enables better maintenance of constant motor speed between
no-load and on-load operation.

Supply frequency at on-load operation is therefore higher to take account of slip

(valid for an operating peak or for slight variations).

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Supply at Variable Voltage and Frequency
C Cmax = cst Vs, Pu, Cu
Cn Vs
2
F  Constant torque
C max  k  n 
F Constant power
F
1 C k n Pu
F

Cu
F F
0 0
1 2 Fn 1 ~2 Fn
C constant P constant P in 1/f

Available operating torque

In this frequency range, operating torque is equal to rated torque. This is operation at à
constant torque or constant flux
Operation at constant power
Operating power is constant outside network frequency.
Maximum torque outside rated speed
Maximum torque falls faster than available operating torque.
This limits frequency variation in high frequencies as well as motor speed.
Available torque at low frequency
Available torque at low frequency is limited by slip.
Institut Schneider Formation
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Institute

Flux Vector Control

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Training Why Vector Control?
Institute

• Due to its principle (scalar control), U/F control = constant

It is not suitable for control of instantaneous torque.

• In applications requiring high dynamic performance, such as operation

at low speed and positioning, we must act directly on the instantaneous torque.

• Flux vector control therefore enables handling of transient states

which is not the case for a speed drive with U/F = constant.

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Vector Control Principle

 AC 3-phase network => DC 2-phase network

 Current flux decoupling

 DC variable selection:
 By selecting axis d in phase with the rotor flux vector.
  = K1 Id
• C = K2  s Iq

 Objective: inverter + motor association = DC motor

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Vector Control Principle
 Vector control diagram
Flux valuation

 ref
Flux Id ref
calculation Current
sensors
Voltage Va PWM
calculation (d,q)
Vb
 Motor
Current Vd, (a,b,c) Vc
 + Iq ref
regulation Vq
cons Speed Speed
ramp regulation
-
Speed valuation Torque
Id
current/
limitation
+ s s
 est Integration

Current
Speed Slip Id Iq
Iq measurement
valuation compensation
(d,q)  (a,b,c)

• ref=reference flux Id=measured flux current Iq=measured torque current Id=reference flux current
• Iq=reference torque current est=estimated speed cons=speed reference s=stator frequency
• s=stator angle Vd,Vq=voltage to be applied Va,Vb,Vc=voltage to be modulated

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Flux Vector Control Reminders
 U/F and Vector control comparison

U/F ratio Flux vector control

Manual compensation Automatic compensation
(U0 voltage at origin) (Stator voltage drop and slip)

C/Cn C/Cn

200 %

100%

F hz F hz

5 10 Fn 1 3 Fn

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Training
Institute
Voltage-Frequency (U/F)
 U/F2 torque curves (motor quadrant 11kW 400V)

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Vector Control

 Open loop torque curves (11kW 400V)

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Institute
Vector Control

 Open loop torque curves (11kW, 0-5Hz)

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Vector Control

 Applications:
 Hoisting
 Materials handling equipment in general
 Torque at low speed
 Motors in parallel
 High operating rate process machines
 Fast materials handling

 Performance:
 Overtorque 170% to over 200%
 Rated torque from1Hz
 Rated torque at slip frequency in generator quadrant
 Maximum frequency 500Hz
 Speed accuracy =<10 % of slip

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Closed Loop Vector Control

 Closed loop performance

 Same as for open loop

 Torque at 0 speed available in motor and generator

 Speed accuracy 0,02% of rated speed
 High passband

 Applications
 Vertical hoisting
 Positioning
 Motor synchronisation

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Closed Loop Vector Control
 Closed loop torque curves (motor quadrant 11kW)

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Frequency Converters

Après CVF

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Frequency Converter Principle

Fixed frequency Frequency

network converter

Rectified
Rectified Filtered

RECTIFIER FILTER INVERTER

Variable
frequency
and voltage
M

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Pulse Width Modulation (PWM) Converters

um
im
Rectifier bridge Pre-load Filter Inverter
R S T

D1 D2 D3 T1 T3 T5

R
M
S C
3~
T

D4 D5 D6 T2 T4 T6

Rectifier  Rectified voltage PWM control

Filter  Smooth voltage

Inverter  Production of AC 3-phase supply varied in frequency and voltage

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Institute
Rectifier

 3-phase rectifier operating curves

I Rectified U Rectified

I Network U Network
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Single-Phase Inverter

 Pulse width modulation production

Variable width pulses Carrier

Reference
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Institute
Single-Phase Inverter

 Single-phase PWM operating curves

Current

PWM

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Three-Phase Inverter

 3-phase PWM operating curves

Ph to ph voltage

Current
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Electronic Speed Drive Assessment

 Advantages:
 Economics
 Reduction of motor inrush current at starting
 Supply system power reduction
 Extended motor life
 Compensation for certain network faults
 Easily integrated and a solution for complex applications

 Disadvantages:
 Interference of its environment by radiated and conducted electromagnetic waves
 Harmonics

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Conclusion

 Speed drive
 A complex component from an electrotechnical viewpoint

 Enables precise adjustment of voltage and frequency applied to motor

 Control algorithm of pulses on IGBTs can therefore be controlled by speed regulation or an

appropriate sequential

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Voltage Wave Converter Braking
Modulated
Rectifier bridge Filter Inverter

D1 D2 D3 T1 T3 T5
Braking
L1
Tf
L2
M
PA C
L3
3~

D4 D5 D6 PB T2 T4 T6

Load
Rf: Braking
resistance Rf Energy dissipation
in a resistance

Braking module

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Voltage Wave Converter Braking

Modulated
Rectifier bridge Filter Inverter

D1 D2 D3 T1 T3 T5

L1 M
L2 C
L3 3~

D4 D5 D6 T2 T4 T6

Load

TM1 TM2 TM3 Energy feedback to network

Braking inverter
TM4 TM5 TM6

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Voltage Wave Converter Braking

 Braking without accessories

 Braking without accessories is possible at between 10 and 30% of rated torque
 Braking energy is stored in the speed drive in the form of voltage increase according to law:

E = ½ CV²

 Use:
 Low inertia load braking
 Non-repetitive braking
 Emergency stops

 A solution exists to avoid tripping the speed drive in DC overvoltage: ramp self-
adaptation

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Speed Drive Example and Installation

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Speed Drive and Add-Ons Overview

3 application cards

3 display/setting
add-ons

Basic speed drive

Communication
option

Braking and
inductance
option

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Speed Drive Multi-Level Approach

Levels Equipment Setting Configuration I/O

reassignment
1 Basic speed drive No No No
 
Basic speed drive
2 + application card No No No

Basic speed drive

3 + setting display
Yes Yes No

Basic speed drive

4 + application card Yes Yes No
+ setting display

Basic speed drive

5 + application card Yes Yes Yes
+ PC add-on

Basic speed drive

6 + application card Yes Yes Yes
+ communication add-on

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Training
Institute
Single-Phase or Three-Phase Supply

Disconnection
Short-Circuit
protection

SPEED DRIVE

MAS

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Basic Speed Drive Overview

No accessible settings

Connection at bottom

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Basic Speed Drive Connection Diagram

Power supply L1
single-phase or 3-phase L2 U/T1
depending on rating. (L3) V/T2 Motor
V/T3
SA
Safety relays to be used +/PA
SC Braking
to signal possible -/PB
speed drive locking SB

COM
0-10V
0 20mA AIV
4-20nA Monitoring
+10
and control
AIC
circuits
+24

FW
RV

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Speed Reference

• Speed reference input current configuration

Motor frequency

60 Hz

ON 4.20 mA 12

0.20 mA
50 Hz
1 2

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Rotation Speed Reference

Voltage setting: 0 —> 10 V ==> Low speed —> High speed

Current setting: 0 —> 20 mA ==>

Low speed —> High speed
4 —> 20 mA ==>

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Speed Drive State Information

• Speed drive in normal operation:

SA SA.SC = open

SB.SC = closed
SC
• Speed drive in fault or switched off:
SB
SA.SC = closed

SB.SC = open

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Available Torque
Torque
C/Cn

1.50
1.25 3
1
2 1 Motor self-cooled
0.75 PERMANENT STATE
2 Motor force-cooled
0.50 1
3 Transient overtorque TRANSIENT STATE
0.25

(50 Hz) 0 5 Hz 25 50
Frequency (Hz)
(60 Hz) 0 6 Hz 30 60

Slip compensation ---> 50 Hz = 1500 rpm

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Importance of Motor Cooling

 Self-cooled motors:
 Tripping curves depend on motor frequency.
 Force-cooled motors:
 Only the 50 Hz tripping curve is considered, whatever the motor frequency.

Time (s)

Current I / In

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Two Display/Setting/Control Add-Ons

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Display/Setting Add-On

Front face Rear face

7 segment display

Programming pilot

Prog

2
1
DATA PROG ON

DATA pushbutton Back pushbutton Commissioning position

PROGRAMMING 2
pushbutton
1 Operating position
Forward pushbutton
ON Inoperative

Setting and configuration switches

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Training
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Two Modes
COMMISSIONING OPERATION

DISPLAY DISPLAY

DISPLAY
SETTING
SETTING

CONFIGURATION

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 Commissioning Mode
Schneider r d Y Speed drive ready
Training
Institute * Only
VW3-A16102 * Frequency
L F r F r H
setting

Fault Reset function

validation r E S * L c r Motor current

Stop/Start function
validation S t S * U L m Network voltage
in commissionong mode

Stop/Start function
Acceleration time
Monitoring parameter: displayed
validation S t E * A c c 0.1 to 600 s
in operating mode
permanently (electrical value reading).

Slip compensation Deceleration time

Yes/No S L P d E c 0.1 to 600 s

Setting parameter: displayed in operating mode. Deceleration ramp

Displayed and adjustable in commissioning mode. adaptation b r A L S P Low speed
Yes/No to H S P

Voltage/Frequency
ratio type High speed
U F t H S P
N/P/L L S P to t F r

Configuration parameter: not displayed in

operating mode. Maximum frequency: Voltage/Frequency ratio
Displayed and configurable in commissioning 40 to 200 Hz t F r U F r
0 to 1 0 0
mode.
Motor rated
Frequency loop gain
ferquency: F r S F L G
40 to 200 Hz
0 to 9 9 - n F L

Setting parameter (in local mode):

Displayed in operating mode
Displayed and adjustable in commissioning Motor rated voltage: Motor thermal protection
depending on rating
U n S I t H I rated motor
mode

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Display Procedure in Operating Mode

rdY Speed drive locked at first switch-on

Speed drive unlocked Operating mode
2s
rdY
or
2
1
FrH 38.5 ON
DATA
(Switch at
add-on rear )
FrH DATA

The last code displayed remains present,

speed drive locked (except fault codes)
Lcr

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Setting and Configuration Procedure
in Commisioning Mode
Training
Institute

commisionning mode

Searching
parameter 2
to change 1
ON
(Switch at
add-on rear )

Setting or
configuration
modification

Pilot ON
Commisionning mode

Pilot flashing
Waiting for confirmation
or cancellation

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Training
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Relationship with Motor

Parameter to be set: Preset parameter:

Motor rated - Thermal current:

frequency Ith = 0,9 I n speed drive

12
- Current limitation:
Ith = 0,9 I n speed drive

- U motor = U network

(In speed drive is given in the User Guide)

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Training
Institute
Relationship with Motor
• Setting parameter:

: Motor thermal protection setting

ItH

Set    ItH     to the rated current stated on the motor identification plate.

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Relationship with Motor

• Configuration parameter:

: Motor rated frequency

FrS 40 Hz to 200 Hz

: Motor rated voltage

380 - 400 - 415 - 460 V
UnS 208 - 220 - 270 - 240 V

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Training
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Relationship with Mechanics
• Setting parameter:

: Acceleration : Deceleration
Acc from 0.1 s to 600 s dEc from 0.1 s to 600 s

50 Hz 50 Hz
(60 Hz) (60 Hz)
600 s 600 s

0,1 s 0,1 s

t t
ta td

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Training
Institute
Relationship with Sequence

• Setting parameter:

Low speed: Operation order + null speed reference

LSP
Setting: 0 —> HSP

High speed: Operation order + maximum speed reference

HSP
Setting: LSP —> Configured maximum frequency

• Configuration parameter:

tFr Speed drive output maximum frequency: 40 Hz —> 200 Hz

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Speed Drive with Braking Module:
Braking Option and Braking Dial
Training
Institute

 Depending on product, the braking transistor may be integrated in the speed

drive (eg: ATV71 up to 160kW)

M SPEED Network
DRIVE

+ -

Energy
u

PA PB
BR

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Training Basic Speed Drive
Institute

Breakdown Assistance

Red LED: Lit = fault

Green LED: Lit = Speed drive

ON
Out = Speed drive
OFF

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Faults

Fault memorisation:

• The first fault detected is memorised if supply voltage is maintained.

• The safety relay trips.

• Memorised fault erase:

• Switch off speed drive power supply.

• Trace cause of fault before reset.

• Reconnect power, which has the effect of deleting the memorised

fault if this has disappeared.

Setting/display module enable display of default codes.

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 Basic Speed Drive with
Schneider
Training Display/Setting Add-On:
Institute
Fault Codes
: Absence of voltage.
PHF : Absence of a network phase (3-phase version).
USF : Network voltage too low.
OSF : Network voltage too high.
2
OLF : Motor overload I  t.
ObF : Excess braking (overvoltage).
ObF : Excess braking (overcurrent).
drF : Transient overcurrent, short-circuit, speed drive overheating.
crF : Capacitor load relay closing control fault.
SLF : Optional serial link communication fault.
InF : Internal connection fault.
EEF : EEPROM memorisation error.
OPt : Option to be configured (assigned I/Os)
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Basic Speed Drive with
Display/Setting Add-On
Training
Institute

 User Guides (example)

Code Probable causes Remedial procedures

• Network phase loss, Check:
PhF
• Drive not supplied L1 L2 (L3), • Voltage,
• Power fuse blown, • Incoming fuses or circuit-breaker,
• Network microcut (t > 200 ms). • Power supply sequence,
• Terminal L1 L2 (L3)
  and +/- connections,
• Rectifier bridge.

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Speed Drive Commissioning Steps
(1/2)
Training
Institute

 1 Taking delivery of the speed drive

 Check that the speed drive reference on the identification plate corresponds to the delivery
note and to the order.
 Open the packaging and check that the Altivar 31 has not been damaged in transit.
 2 Check that network voltage is compatible with the speed drive power supply
range
 Risk of speed drive destruction if network voltage is not respected.
 3 Mount the speed drive
 4 Connect the following to the speed drive:
 The power supply, ensuring that this is:
• within speed drive voltage range,
• switched OFF.
 The motor, ensuring that its coupling corresponds to network voltage.
 Control by logic inputs.
 Speed reference by logic or analogue inputs.

 5 Switch on the speed drive without giving the start order.

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Speed Drive Commissioning Steps
(2/2)
Training
Institute

 6 Configure:
 Rated frequency (bFr) of the motor, if this differs from 50 Hz.
 Motor parameters, only if factory configuration is not suitable.
 Application functions, only if factory speed drive configuration is not suitable, for example
the control mode: 3-wire, or 2-wire on transition, or 2-wire on level, or 2-wire on level with
forward direction priority, or local control.

 7 Check that programmed functions are compatibles with the wiring diagram
used.

 8 Set the following parameters:

 ACC (Acceleration) and dEC (Deceleration).
 LSP (low speed when setpoint is zero) and HSP (high speed when setpoint is maximum).
 ItH (motor thermal protection).

 9 Start the speed drive.

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Training
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Operations

Objectives: Discovering speed drive basics

Speed drive installation, basic standard settings, wiring the motor and control parts.

I. A) From the electrical characteristics of the speed drive below, complete the following terminal
block and justify motor coupling.

Power supply: 208/240 V, 50/60 Hz single-phase and 2.8/2.5 A

Output voltage: 208/240 3-phase

U1 V1 W1
Justification:

W2 U2 V2

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Operations
B) From the functional diagram below, complete the table.
CURRENT
MEASUREMENT PA U1
L1 AL1

RF
L2 AL2 PB V1 M
3~
W1

1 2 3 4 5 6

Ref Description Function

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Operations
II. Use the diagram below as a guide for test bench wiring (see table on following
page)
Power supply 240 V
PH N

Q1

Q2 KM1

SC

SA
SB
L2
L1

T
ATV

W/T3

COM
U/T1

V/T2

AIV

+10

+24
AIC
+

FW

RV
-
Q3

AU R:2.2k
PA PB

AT 0.20mA
4.20mA RF
M1
MA KM1

KM1 ST

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Operations

Inputs/outputs table

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Operations
III.Setting
Execute settings defined in the settings sheet below:
DISPLAY/SETTING/CONTROL ADD-ON
Configu-
DATE ration
SETTING PARAMETER CONFIGURATION PARAMETER

Acc DECLSPHSP UFr FLG ItH UnS FrS tFr Uft brA SLP StE StS rES
1 2
16/02/93 n off on - - -
0 20 33 2,2 220 50 50
ATV 16

MES
1 1 50

JOG 3SP 4SP Ibr Atr FLr StP

General/materials
Application card

1 2
handling use

JF1 JF2 StP Atr FLr

1 2
Application card
Variable torque
use

Ac2 dE2 Idc tdc FLr

Application card

1 2
High speed
motor use

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Operations
III. No-load tests F 0 10 20 30 40 50
A) Start from 0 to 1500 rpm.
1) Measure and trace U
voltage as function voltmeter
of frequency. U
RMS
U
300

200

100

10 20 30 40 50 F

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Operations
2) Display motor current and voltage
for start operation from 0 to 50 Hz.

Oscilloscope configuration:
- Trigger --> A Ch A
- Menu scope option
--> scope mode = single shot
- Channel A --> voltage 200 V/d
- Channel B --> current 500 mV/d
- Time base: 100 ms/d

Ch B

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Operations
3) Display network current and voltage
for the same start operation.

Oscilloscope configuration:
- Trigger --> B Ch A
- Menu scope option
--> scope mode = single shot
- Channel A --> voltage 200 V/d
- Channel B --> current 500 mV/d
- Time base: 20ms/d

Ch B

Reproduction prohibited Asynchronous Motor Speed Variation

 Schneider
Training
Institute
Operations
4) Display network current and voltage at switch-on
without start order.

Oscilloscope configuration:
- Trigger --> B
Ch B
- Menu scope option
at 25 Hz
--> scope mode = single shot
- Channel A --> voltage 200 V/d
- Channel B --> current 500 mV/d
- Time base: 10 ms/d

Ch B
at 50 Hz

Reproduction prohibited Asynchronous Motor Speed Variation

 Schneider
Training
Institute
Operations
B) In steady state:
1) Display motor current and voltage at 25 Hz.

Oscilloscope configuration:
- Trigger --> A Ch A
- Menu scope option
--> scope mode = single shot
- Channel A --> voltage 200 V/d
- Channel B --> current 500 mV/d
- Time base: 100 ms/d

Ch B

Reproduction prohibited Asynchronous Motor Speed Variation

 Schneider
Training
Institute
Operations
2) Display motor current and voltage at 50 Hz.

Oscilloscope configuration:
- Trigger --> A
- Menu scope option
Ch A
--> scope mode = single shot
- Channel A --> voltage 200 V/d
- Channel B --> current 500 mV/d
- Time base: 10 ms/d

Ch B

Reproduction prohibited Asynchronous Motor Speed Variation

 Schneider
Training
Institute
Operations
C) Deceleration from 35 Hz to 0.
1) Display motor current.

Oscilloscope configuration:
- Trigger --> A
Ch A
- Menu scope option
--> scope mode = single shot
- Channel A --> voltage 200 V/d
- Channel B --> current 500 mV/d
- Time base: 200 ms/d

Ch B

Reproduction prohibited Asynchronous Motor Speed Variation

 Schneider
Training
Institute
Operations
Dec. = 1 s
Time base: 200 ms/d
2) Display braking resistance current and
voltage for deceleration ramp of 1 second and
0.1 second from 85 Hz to 0.

Oscilloscope configuration:
Ch A
- Trigger --> A
- Menu scope option
--> scope mode = single shot
- Channel A --> voltage 200 V/d
- Channel B --> current 500 mV/d

Ch B

Reproduction prohibited Asynchronous Motor Speed Variation

 Schneider
Training
Institute
Operations
Dec. = 0.1 s
Time base= 200 ms/d Structure

Ch A

Structure

Ch B

Comments:

Reproduction prohibited Asynchronous Motor Speed Variation

 Schneider
Training
Institute
Operations
IV. Fault signalling

A) On braking without braking resistance: what happens?

B) - Turn brake to obtain Lcr = 1.5 A

- Modify setting parameter Ith = 1
- Execute start order, increase speed to 50 Hz.
- What do you observe?

- Explain this phenomenon.

C) - Return to Ith = 2.2

- Disconnect line U1 between speed drive terminal and motor.
- What happens?

Reproduction prohibited Asynchronous Motor Speed Variation

 Schneider
Training
Institute

Demonstration:
Ventilation Application Film

Reproduction prohibited Asynchronous Motor Speed Variation

 Schneider
Training
Institute

Demonstration

Ventilation Application

Altivar 21 Film

Reproduction prohibited Asynchronous Motor Speed Variation