5.

ELECTRIC DRIVES
5.1 General description
Electric drive is an electromechanical system (mechatronic system) intended to set into
motion technological equipment. They consist of an electric motor (motors), a transfer
mechanism, an electrical energy converter, and a control system. The control system consists
of a microcontroller with data connection interfaces, data channels (data network), sensors and
actuators. A generalized structure of the electric drive is shown in Fig. 5.1. In general, the
main task of the electric drive is the motion control of mechanisms. An electric drive is an
automatic control system with a number of feedbacks where different automatic control
principles, such as error driven feedback control, model based control, logical binary control,
or fuzzy logic control methods are used. Depending on a particular technical solution and
selected control principle, different sensors for measuring of currents, voltages, velocity,
acceleration, torque etc. in an electric drive are used. Other information, like pressure signal
for controlling pumps and compressors, air humidity and/or temperature signal for controlling
of fans etc. is also necessary. For that reason, the controller of the drive must process different
information.
3 x U~

Data network
Data communication
with PLCs and PCs
Microcontroller
with I/O
interfaces

Mechanical
transmission
Power
converter

Optical link between

signal and power circuits

Currents, voltages

Signal
converters

Load machine

Motor

Speed, position, torque

Sensors

Figure 5.1 Generalized structure of an electric drive

Microprocessor technique enables us to apply different control methods in todays control

systems, including control of electric drives. In the drive controller, the signal processors with
inbuilt analogue-digital converters, timers, pulse- width modulators and other devices, which
simplify drive control, are commonly used.
Integration of devices and functions. Microprocessor techniques make it possible to solve
all control tasks, like energy conversion between the drive and the converter, protection and
tasks connected with the sequence logic of a technological process. Because of this a

75

microcontroller is a complex control device, which is realizes the computer control,

programmable controller functions and supervision of the process. A drive controller is
programmed and controlled by help of commands and subprograms of special functions.
Software of a drive is complemented with supplement functions. Since modern industrial
systems are based on data communication networks recent controllers are intended for action
with field buses. A controller guaranteed the flexible speed regulation and motor protection.
Software solutions. Todays theories published will be realized as software of devices. You
can tell already today that drive controllers are able to solve all problems and tasks described
in course books of electric drives. Controller software includes a number of contemporary
control methods, like adaptive control, model based control etc. Vector control of AC-drives
was a technical novelty ten years ago, but today this method is largely used in frequency
converters.
Economic considerations. A situation may arise when functional qualities of a drive
controller and completeness of the interface are not harmonized. To reduce the price market
compelled producers often simplify the interface of converters. Therefore the number of
control buttons and decimal places of sign-number display must be reduced to 3. To display
the large variety of drive controller states (different faults, signals etc.), every segment of the
7-segment digit indicator could be used to display coded information. It will be very
inconvenient for the operator of the drive equipment to acquire this very special coding.
Naturally it is a different question if the user needs programming or reprogramming the
converter or not or if the programming and service must be done by specialized firms. Power
converters with the most intelligent user interface can communicate in common national
languages understandable for everyone. Maximum convenience will be achieved by special
HMI PC software. In this case, all the useful information about the drive and technological
machines can be displayed on the PC screen. Different functional diagrams about energy
consumption, technological cycles, amount of production etc. can be used. But, unfortunately
this software may be more expensive than the converter hardware.
New sensors and optical data connection. Today the numeric control of electric drives is
widely used and the traditional analogue sensors will be replaced with the new digital sensors
for measuring of speed and position. These sensors may be the pulse sensors as well the code
sensors to measure the position. On ones own problem is measuring of voltages and currents
with high harmonic components specially then when the control information is necessary very
quickly and then the filtration of the signals is very difficult. Current transformers defaced the
signals and they are not acting so fast. Bypasses in the current circuits gives the accurate
current signal but galvanic connected sensor signals with power circuit are not usable in
microcontroller. By this reason Hall sensors based magnet-electric current converters, which
are guaranteed galvanic separation of control and power circuits in electric drives are used. To
forward the output signals of the controller to converter fibber-optic data channels are used.

76

5.2 Electric Drive with DC Machines

For some reasons, today the term DC drive is not clear. First, the operating principle of the
electric machine assumes periodic commutation of the current of the winding; because of this
the current of the winding is actually AC current. Second, DC machines with a mechanical
commutator today rarely are used. Instead, brush-less DC motors (DC motor with a
semiconductor commutator) are used. In terms of construction a brush-less DC motor is
similar to AC synchronous motor fed from the frequency converter. Third, the AC network
feeds the electric drives and using of a supply converter rectifies the voltage of the motor.
Supply converters of DC and AC drives consist of rectifiers. Armature windings of a DC
motor are commutated depending on the revolutionary angle of the armature. Such kind of a
principle can be used to control the synchronous machines too. This is just one difference
between DC and the types of motors.
The principal scheme of a DC drive is given in Figure 5.2. The power circuit of the drive
consists of a non-controlled rectifier, a filter, a braking chopper, and a 4-quadrant pulse width
converter. GTO thyristor switches used in drives with large power are shown in the figure. In
drives with smaller power IGBT transistor switches are used. Whereas non-controlled rectifier
is not able to convert energy between the drive and the network, the energy of the generator
must direct to filter capacitor CF (voltage increased) or dissipate in the brake resistor RB. For
that reason the brake chopper PLB is switched on.
LF

id1
ie

PL1

CF

D2

PL2

D4

Ue

RB

3~U1

PL4

D3

Ra

La

Ud1
JM

,
PLB

Rectifier

Filter

PL3

Brake chopper

D1

JL

Load

TL

Figure 5.2 Principal scheme of a DC drive

A 4- quadrant pulse width converter enables operating of a DC machine on 4- quadrants of
torque-velocity surface. It means that directions of torque and velocity are changeable and the
machine may operate as a motor or and a generator. There are two ways to control the pulse
width converter. First, using couples of semiconductor switches PL1 and PL2 or PL3, and PL4
may choose direction of the motor velocity. When one couple is chosen, the other couple is
continuously switched off and the direction of motor velocity is not changed. The voltage of
the converter and the velocity of the motor are regulated by semiconductor switches (for
example PL1 and PL2), using the principle of the pulse width modulation.

77

To regulate voltage and velocity it is sufficient to have pulse width control of one
semiconductor switch (e.g. PL1). To change the direction of the motor velocity the direction of
the armature current will be changed. The direction of the excitation current is not changeable.
Therefore the couple of semiconductor switches (e.g. PL1 and PL2) are switched off and the
other couple (e.g. PL3 and PL4) are switched on. To regulate the motor velocity,
semiconductor switch PL3 is used. Output voltage diagrams of the 4-quadrant pulse width
converter are shown in Figure 5.3.
A 4-quadrant converter may be used such that semiconductor switches (PL1 and PL2) and (PL3
and PL4) are switched in a couple. Then the output voltage of the converter has a quadrangle
form. Changing the relative switching time of semiconductors will regulate middle value of
the voltage. When durations of positive and negative half wave are equal, output voltage is
equal to zero.

U
PL1

Uk > 0

Uk > 0
t1 > t2

t2

PL2 is continuously in open state

PL1
PL2
0

PL3
PL4

PL1
PL2

PL3

Uk > 0

t1

t 2 > t1

PL4 is continuously in open state

t
Uk < 0
t

Figure 5.3 Regulation of voltage and variation of polarity 4-quadrant pulse width converter by
using a) one or two switches or b) four switches

78

5.3 Soft start of the induction motors

Today most commonly used electrical motor is an induction motor. As compared to other
electrical machines, induction motor is reliable, durable in heavy conditions and need a little
current maintenance. Because of this, induction motors are economically efficient. For a long
time, induction motors were known as electric machines difficult to control and were used
only in electrical drives with constant speed. Induction motors are mainly used to set into
motion general purpose machines, like fans, compressors, pumps and other machines, like
disc saws, wood planes. These machines operate in a continuous duty regime, but to optimize
the processes and of save energy, regulation of productivity and speed is often necessary.
Because ten years ago, flexible speed regulation of induction motors was very difficult, had to
be put up with lower efficiency of a machine or lower quality of production. Problems of
starting, braking and protection of induction machines may be solved by help of power
electronics and microprocessor techniques by using soft starters. The progress of power
semiconductor technique, microelectronics calculation techniques and other technologies
make it possible to develop an operating regime optimizing soft starters to control the
induction motors.
Earlier, induction motors caused a number of problems. For example, high power induction
motor start was a problem. With direct on-line start of the induction motor the stator current
increases up to seven times over the rated value, causing high current peaks in the electrical
lines. Starting current of an induction motor does not depend on the motor load and is a
constant value for each motor. Relative starting current Istart/Irated is given on the motor
nameplate and commonly it is 4-7 times higher than Irated. In long electrical lines and networks
with high resistance starting of a high power induction motor causes an essential voltage drop
on other consumers. Thereby the starting torque of the induction motor is relatively small as
compared to the DC motor. Because of this, the duration of the starting process is so long
when the load and moment of inertia are large (heavy start). This case causes essential heating
of motor windings and it is dangerous to the insulation when protection devices are not used.
As different firm the DC motor, the torque of which increases proportionally when the load
increases, the mechanical characteristic of the induction motor (relation between torque
and velocity) is non-linear. The mechanical characteristics of the induction motor are
characterized by maximum or breakdown torque. When the breakdown point is crossed, the
velocity decreases and motor stops when the load stays. This is a short circuit operation of the
motor. Because of this, when the load changes in a large area, induction motor are difficult to
use or not recommended.
Commonly, the braking of the induction motor by plugging with automatic stop on zero
speed or by dynamic DC braking can be done. The main drawback of plugging is the high
current, slightly greater current than the starting current, and a need of zero speed sensors, to
stop the motor. In the case of dynamic DC braking, the additional DC voltage source or
semiconductor diodes must be used. A disadvantage of dynamic braking is also a non-linear
dependence between the torque and speed.
It is relatively complicated to protect the induction motor. When the armature current of the
DC motor is proportional to the load and resulting motor load, in an induction motor, the
dependence between the stator current and the load is much more complicated. Mathematical
description of physical processes in the induction motor is difficult. To obtain objective

79

information about the physical processes by measuring electrical signals is complicated

because the measured stator current and voltage characterized the state of motor only
particularly
Soft starters are intended for smooth starting and stopping (without current peak and with
adjusted acceleration) of an induction motor and reducing of energy consumption on the
variable load, specially if the load is smaller than the rated load. By using of soft starters is
also possible to control the braking of the induction motor. Some of soft starters allow the
DC-braking, short time low speed operation or jogging and controllable linear braking ramps
by help of tachogenerator. Also a kick-start is possible when starting conditions are hard.
Soft starter is a thyristor based AC voltage regulator where thyristors are controlled by help of
a microcontroller. Due to a microcontroller, soft starter performs relatively complicated
functions. For example, with voltage regulation is possible to decrease the starting current
peak, to choose duration of acceleration and deceleration ramps and to optimize energy
consumption (power factor) on a variable load. A microprocessor system makes it possible to
realize sufficient second-ampere characteristics of the overload protection. By commutating of
thyristors it is possible to switch on and off half waves of 50 Hz alternating voltage. In this
way, a short time low speed operation can be used. A microprocessor system of a soft starter
is operating as starting and protecting system. The protection functions are as follows:
adjusted over-current limit, protection against input or output phase interruption (circuit
break), short circuit of thyristor, heat sink overheating, wrong frequency of feeding voltage
and troubleshooting of microprocessor. Other protection functions, like thermal overload
protection, stopped rotor protection, unexpected load disappearing protection, troubleshooting
of memory and long lasting start or long lasting low speed operation protection in some soft
starters can be realized.
It is possible to connect a soft starter to the industrial data communication network by help of
the data communication interface. Soft starters with analogue and digital control panels are
manufactured. A soft starter can protect also the others technological devices. For example,
the smooth starting of pumps externalizes hydraulic shock in the piping.
Construction and operating principle of soft starter. The scheme of power circuits and
external control circuits of a soft starter is shown in Fig. 5.4. Push buttons Start and Stop are
connected to the input terminal of the control circuit. The two push buttons with impulse
contacts or one tumbler with two fixed position may be used. Thermal relay FT is intended for
motor protection and will be selected depending on the motor rated current. The fuses F1
protect feeding circuits of a soft starter. The thermistor is foreseen for the motor protection
against the overheating. To regulate speed automatically and obtain the linear starting ramp,
the signal of a tachogenerator is connected to the input terminal. When starting conditions are
hard (heavy start), rated voltage can be provided to the stator winding. A separated switch
makes it possible to select a low speed operation or jogging. A soft starter has a number of
output terminals. They intended to control the relays connected series with the voltage source
or contactor. The possible use of output terminals is shown in Figure 5.4.
The voltage and current time diagrams of starting, stopping and the energy saving operation
(Figure 5.5) can characterize the operation of the soft starter. The dynamic braking after the
end of deceleration ramp (on low speed) is possible.

80

Line voltage L1, L2, L3

Supply of control circuits ~220/240 V

F1

DC 1
1L1

3L2

5L3

Output terminals
A1 A2

B1 B2

SOFT STARTER
Programmable
Start / Alarm

End of ramp

DC breaking

2T1

4T2

6T3

Input terminals
DC 2
+
TAV-S

vi
FT1

Start

Motor
Speed-up Small speedthermistor
operation

Stop

FT 1

TG

Tachogenerator

~M

Figure 5.4 Scheme of power circuit and external control circuits of a soft starter

U / Un

I / In

1
3a

8a

5a

7
1a
1
t

U / Un

I / In

1
3a

8a

3
3

1
6
6
8

1a

1
t

Figure 5.5 Voltage and current time diagrams of starting, stopping

and energy saving operation (down)

81

The voltage and current time diagrams consist of the following stages:
1
1a
2
3
3a
4
5
5a
6
7
8

Acceleration ramp (duration of ramp some periods, for example 0.1 s

Voltage of acceleration ramp (regulation area 30-95% Ur)
Shock start voltage selected until 95% Ur
Duration of acceleration ramp (tr = 0.5...60 s)
Rapid increase of motor voltage after reaching the rated velocity
Current limit of motor 2-5 Ir (where Ir is the rated current)
Rated voltage Ur
Rated current Ir
Energy saving operation (motor operating at reduced voltage)
Stopping with the motor switch off (coasting)
Deceleration ramp. Duration of deceleration ramp depends on the moment of inertia and
duration of acceleration ramp (e.g. td.ramp = 2 ta.ramp). Deceleration ramp may be linear or
non-linear.
8a Variation of voltage on deceleration
9 Dynamical braking, e.g., duration of braking is 5 s. Braking begins after the end of
deceleration ramp. Current of dynamical braking can be selected (e.g., 2 Ir)
Energy saving operation is possible only when the motor operates at constant speed. Motor
voltage is regulated depending on the power factor. Motor efficiency, power factor and energy
consumption depend on supply voltage, and the optimal value of feeding voltage can be
determined (Fig. 5.6). As the result of the regulation of motor voltage, the active energy
depending on motor load will be saved and the power factor will be improved (reactive energy
decreases).
Energy
consumption
100 % load

50 % load

Motor supply voltage

Figure 5.6. Energy consumption depending on the load and supply voltage

Low speed or jogging makes it possible to position the shaft of motor or the driven machine.
This is a short time operation (e.g., up to 120 s) and the speed may be selected as 7% or 14%
of the rated speed. Jogging speed is achieved by the selected switching of thyristors.
Thyristors are switched to the stator winding every 7 or 14 half wave of the alternating
current. Thus, variable polarity current pulses at the frequency of the first harmonic 1/7 = 14%
or 1/14 = 7% are generated.

82

Linear acceleration and deceleration ramp is achieved by using the feedback signal of
tachogenerator (see Fig. 5.4). Help of switches connected with the soft starter may select the
operating mode of the motor, e.g., acceleration, deceleration, dynamic breaking, jogging speed
etc.
There is a possibility of motor overload protection in a soft starter. To determine the
operating state of the induction motor, the rotor current and resistance or the magnetic flux of
the air gap must be measured. However it is very difficult. Because of this, the induction
motor, which has reliable and simple construction, fails in reason of overload when its
protection device is faulty. Because of this microprocessor technique (software) based
protection systems are used. Operating time of the protection device depends on value of
over-current. The higher the over-current, the shorter the operating time of protection device
is. The time-current characteristics of protection are shown in Fig. 5.7. The protection may be
set on the standard duty or heavy-duty operation mode of the motor. On the heavy-duty
operation mode of the motor the permitted overload and temperature of windings are higher.
Characteristics show that the operation time of protection is 30 seconds and over-current is 3Ir
on standard duty operation mode and 4.5Ir on heavy operation mode.

10000 s

1000

Heavy duty

100
30
10

Standard operation

1
2

10 In

Figure 5.7. Time-current characteristics of overload protection

After the operation of overload protection, the cooling period will follow. During the cooling
period of the motor the restart is impossible.

83

5.4. Frequency controlled electric drives

Many problems arise with velocity regulation of an induction and a synchronous motor. It
is well known that the best way of velocity regulation of a squirrel cage induction motor and a
synchronous motor is variation of frequency of the supply voltage. For a long time, there was
no simple and cheap way for frequency regulation. For that reason, the variation of the pole
number of a motor is used. The velocity regulation of an induction motor makes it possible to
use the induction motor with the phase winding (with slip-rings and brushes) because the slip
of the rotor and the velocity of this motor are inversely proportional to the resistance of the
rotor circuit. But in this case there are high losses in the rotor rheostat.
Todays, the frequency control of induction machines is the main method of velocity
regulation and frequency converters are the main components of electrical drives.
Traditionally, the frequency converter was intended for smooth regulation of voltage and
frequency of a motor. But modern frequency converters have a number of functions. In
principle, a frequency converter with an induction motor is a complex electrical drive. A
frequency converter consists of a feeding converter, sensors and a control system. The control
system is able to control the actuator or complicated automatic circuits of the technological
process. By help of network interface, a frequency converter is usable on automatic systems
with a number of levels. Frequency converter has a user interface for the drive operation mode
control.
Use of frequency converters in electrical drives was intended already after the invention of the
induction motor. First, machine converters were used for this purpose. Machine converters
consist of a variable speed DC motor connected mechanically to a synchronous generator.
This converter, a feeding source of variable speed drive, was very expensive and economically
inefficient. After invention of the thyristor (1956) the idea of developing static (without
rotating machines) frequency converters became realistic. At the beginning of the 1960s the
first thyristor frequency converters were built. At the same time, the first pilot thyristor
frequency converter was built at the Department of Electrical Drives and Power Electronics of
Tallinn Technical University. However, frequency converters use in industrial drives was very
slow for a long period. The main reason was the high price and low reliability of thyristor
frequency converters. Appearance of high power transistors as insulated gate bipolar
transistors (IGBT) changed the situation profoundly. Today, frequency controlled AC drives
are applied almost everywhere where only DC drives were used before.
Frequency control is traditionally intended to adjust motor torque, speed or motor shaft
position (rotating angle) by help of closed or open loop control circuits provided output
voltage and frequency change relatively slowly and motor operates in a continuous duty.
Closed loop control systems make it possible to increase the measuring accuracy of output
signals and make dynamical qualities better. In converters with traditional control, duration of
acceleration and deceleration ramps is strongly limited.
Overloading level of an induction motor at conventional frequency control is relatively small
(2-2.5 times). Sharp changing of the motor load may cause breakdown of the induction motor.
Then motor is stopped or rotates at a very low speed (jogging). Motor losses are increased and
the temperature of windings grows sharply. For these reasons conventional frequency

84

converters for the control of continuous duty operating devices, such as pumps, cooling fans
and compressors, are used.
Todays fast operating electric drives are controlled by using the vector control. The vector
control is the control method by help of the rotating direction vector of the magnetic field.
Because of this, vector control is called field orientation control. Conventional frequency
control may be called scalar control because it is based on measuring of the effective values of
frequency and voltage. These values are average. Vector control is based on the dynamical
model of the induction motor (model based control).
Vector control is similar to DC drive control and may be used to control mechanisms with the
dynamical load (elevators, robots etc.).
Power circuits of a frequency converter are shown in Figure 5.5 and the connection scheme of
control circuits in Figure 5.6. To control a frequency converter by local and remote control
methods, the program control is used. Standard software of a frequency converter consists of a
number of typical macro program and the selection and settings of parameters determine the
operation mode of the drive. Setting parameters of the frequency converter may be classified
to some groups. Traditionally, three groups of parameters are distinguished:

frequently varied parameters

rarely varied parameters
parameters varied by the producer

First two groups of parameters may be changed by a user. As a rule, a user has no information
about the parameters of the third group and the producer may change these only.
Parameters of a frequency converter are changed digitally. Frequently, varied parameters are
frequency setting, frequency setting for jogging, acceleration/deceleration time, torque boost,
DC brake setting and sometimes settings of input signals.
Frequency setting. Frequency setting entered to the control panel with the local control
regime influence directly the operating speed of the drive. Frequency is selected by help of
keys (increment) and (decrement). Frequency setting on the local control may be given by
using a potentiometer connected to the converter, DC voltage or current source and on the
remote control by help of a control computer.

85

Braking rheostats

TR
L+
KL

K1
L1

L1

L3

AM

G
TR1
K

Figure 5.5. Power circuits of a frequency converter

Frequency converter

Analogue inputs

P10 820
Setting by voltage
R = 2 k, 2W
Setting by current
Auxiliary input 10 V
for feedback
Analogue inputs
common terminal

+15V
FM

FSV
FSI
AUX

20K
0V
820

COM

AM

COM 20K

0V

COM

Voltage output
010 V
Load current
max. 1mA

RESET
EMS
FRUN

RA
RY24

PSI1
Digital inputs

PSI2

Sequential logic
inputs 5 mA

PSI3

RC
(RRUN)

4.7K

(FJOG)

Max. 1A 250V AC
or
30V DC

FA
FB

Max. 1A 125V AC
or
1A 30V DC

FC
(RJOG)

PSI4

ATNC

PSI5

ATNE

RYO

RYO 2)

Figure 5.6. Connection scheme of control circuits

86

Open collector
Max. 30V DC 30mA

Digital frequency settings conventionally consist of robust and exact settings. By using
robust setting, frequency is changed with step 1 Hz and help of exact setting changes
frequency changed with step 0.01 Hz.
Acceleration and deceleration time settings are changeable in a large area (0.1-6000 s).
Acceleration and deceleration time settings are given in Figure 5.7. Frequency at the
beginning of the start called the start frequency. Braking frequency is the frequency when the
dynamical braking is turned on. The value of DC voltage used for dynamical braking depends
on the power of the converter and is changeable within range 0.1-20% (default 5 %), whereas
on higher power, lower voltage is selected. The duration of dynamical breaking is determined
by corresponding parameter in the range of 0-20 s.
Jogging frequency setting is selected before the start. Jogging frequency setting is intended
for motor short time operation at low speed and for positioning of the mechanism. A motor
start to the forward or reverse direction of jogging takes place by help of commands F JOG or
R JOG (forward jogging or reverse jogging). Acceleration and deceleration times will be set
by help of parameters B21-9 and B21-3 (Fig. 5.7).

Frequency
Fmax

Maximum frequency
Jogging freq.

DC breaking
Braking time
Braking voltage

Braking freq.

Starting freq.

ta
(A01-0)

tb

ta

(A01-1)

tb

(B21-2) (B21-3)

Forward or
reverse start
Jogging

Figure 5.7. Programmable acceleration and deceleration times

Acceleration and deceleration times must be fitted with real parameters of electric drive. For
drives with high inertia selection of very short acceleration and deceleration times is not
possible because then high torque and power of the drive are necessary. In real drives,
selection of so short acceleration and deceleration times causes protection setting and motor
stopping. For this reason, acceleration and deceleration times are selected by using formulas in
Table 5.1.

87

Table 5.1
Kiirus

TMA =
TMB = TMA

ta

P
;

Dynamical braking power 1

0,8
Motor power

tb

230 V system

J
ta =
;
(TMA TL )

Dynamical braking power =

148.2
[kW ]
Braking resist

400 V system

J
tb =
(TMB + T L )

Dynamical braking power =

593
[kW ]
Braking resist

For motor torque compensation, voltage-frequency function U = f(f) settings are is used
(Figure 5.8). Before setting of parameters the character of the motor load must be determined,
e.g. torque is independent of the speed (T = const.) or torque is proportional to the speed (fans,
pumps). Nonlinear voltage-frequency function (A02-1) is selected on the fan load. Linear
voltage-frequency function is sufficient at constant load. In either case, the decrease in torque
at low frequency must be compensated with a voltage increase (A02-0). The value of basic
frequency fbase is 50 Hz. When the basic frequency, which determines the regulation area of
the frequency, differs from the default value, then its value must be set before motor start with
parameter (B00-3).
Voltage

Voltage
A02-1

A02-1
A02-2

A02-2

Frequency
fphi / 2

Frequency

fphi
fmax
(B00-3) (B00-2)

Figure 5.8. Settings of torque compensation of voltage-frequency function

Automatic torque compensation decreases the voltage automatically when the motor load
decreases (Figure 5.9). Compensation parameter (A02-2) on the rated current is selected in the
range 0-20 % of rated voltage (conventionally 3-5 %). Too high value of parameter A02-2
makes the drive unstable and overcurrent protection turns on.

88

Voltage
High load

Small load

A02-2

B00-3
fbase

B00-2

fmax Frequency

Figure 5.9. Automatic torque compensation

Slip compensation is intended to stabilize motor speed when the load increases (Figure 5.10).
The value of setting is equal to the motor slip on the rated load and is selectable in the range
of 0-5 %.

Frequency

Load

Time

Figure 5.10. Motor slip compensation

The character of the output voltage depends on if the DC voltage automatic regulation is
operating or not (B00-4 = 0) and if the output voltage on the basic frequency is equal to the
input voltage. DC voltage automatic regulation decreases the output voltage fluctuations
caused by the variation of input voltage. If setting of the maximum frequency fmax (parameter
B00-2) must be observed that its value does not exceed the value on the motor nameplate.
Basic frequency of the converter, output voltage and current must be stated in relation to the
motor nameplate values. Output voltage must be not higher than rated voltage of the motor.
Motor rated current Ir (parameter B00-5) must not be greater than rated current of the
converter and smaller than 30 % of the rated current of converter. It means that
Irm > Ir > 0.3 Irm (where Irm is the rated current of the converter).
Increasing the carrier frequency of the pulse width modulation can reduce the electromagnetic
noise. Sometimes the carrier frequency is decreased automatically when the load increases
(Fig. 5.11). Because of this, when the carrier frequency is lower, loading capability of the
motor increases. Relation between the maximum relative current of the motor and the carrier
frequency is shown in Figure 5.12. For example, on the variable torque load, when the
temperature of the heat sink of the converter rises up to 70 C the carrier frequency decreases
automatically to 4 kHz.

89

Period of carrier frequency: B006

L1

B00-4

Frequency
L1 converter

L3

B00-5

B00-1/f1
(Supply voltage)

Figure 5.11. Settings of the carrier frequency and the output voltage and current

Output current

100 %

Varying

torque

8 % per 1 kHz

100 %
Constant
torque
Carrier frequency
3

10

11

12 kHz

Figure 5.12. Relation between the maximum relative current of the

motor and the carrier frequency

The selection of starting and stopping methods helps to determine the type and purpose of
the switches that will be used for drive control. The drive may be stopped by coasting or by
the deceleration ramp. With the deceleration ramp, motor speed is reduced when the
frequency decreases until the braking frequency and then dynamical braking is used.
To start the motor after coasting, it should be observed that the motor stops. Switched off but
until rotating the motor is started by using start with pick-up (flying start), then the converter
synchronizes frequency with the motor speed automatically. When the rotating motor starts
without pick-up, the protection may operate.
Setting parameters of the converter determine the auto start conditions. When the
corresponding parameter is on state 1 = OFF, the auto start is switched off. The drive will be
started by command RUN = ON after the recharging of DC circuit capacitor. When the
corresponding parameter is on state 2, after switching on the power supply voltage the motor
starts automatically without the pick-up start, provided that command RUN and converter
recharging are finished. When the corresponding parameter is on state 2, then 3, the motor
starts with the auto pick-up start. The latter method is used to continue operation after the
motor stops by means of disturbances of the power supply voltage. The drive starts
automatically after the power supply voltage is recognized.

90

Output frequency

The speed when

motor free wheeling

Deceleration ramp
DC
breaking

The stopping by free wheeling

Time

F RUN

Figure 5.13. Methods of stopping the drive

Recurrence switching and pick-up is used to restart of the drive after unexpected switching
off. This function is very important, if the drive is intended for continuous duty operation (Fig.
5.14). This function is useful, if the supply voltage is occasionally switched off due to
operation of any protection device, but the fault occurred is probably temporary. By
corresponding parameters the number of recurrence switching and retry wait time will be set.
When the flying start is impossible the converter will send the output signal that the retry time
is out.
Output frequency

The speed detection (1...2 s)

The restoring of output frequency

Motor speed
1

tpw

Internal logic
signal

B28-1
n=1

n=2

1 - waiting time after the

overcurrent
2 - flying restart
3 - flying restart
4 - successful flying restart
and end of probes

n=3

Figure 5.14. Recurrence switching and flying start

The frequency converter has the emergency stop function, which makes possible to select the
emergency stop method, e.g., stopping by coasting or by deceleration ramp. For smooth
starting and braking, S-shape acceleration and deceleration ramps are used (Figure 5.15).
Help of parameter B21-4, which determines the time interval ts of smooth change of
acceleration, whereas acceleration and deceleration times ta, sets shape of the ramp and tb are
not changing. Different converters enable ramp setting by selection of typical ramps. Smooth
control of acceleration is very important in control systems of electric drives of trams, trains,
trolleys etc. because passengers are very sensitive to variation of acceleration (push).

91

Output frequency

B21-4

ts

ta

tb

ts B21-4

Figure 5.15 S-shape acceleration and deceleration ramps

Frequency skip settings are intended to externalize operation of a drive on the mechanical
resonance frequency. For this some prohibition places are determined in the frequency
regulation area of the motor, with width 0-10 Hz, where the continuous regulation of
frequency is impossible. To set the frequency skip, mechanical qualities of the drive and the
actuator must be studied.
Ratio interlock settings and upper/lower limits make it possible to fit analogue frequency
setting signals with the regulation qualities of the system. To select the module and the
polarity of the amplifier coefficient A, the amplitude and polarity of the displacement signal B
and limits of control signal (upper and lower limits) must be established. A scheme of signal
fittings and ratio interlock settings is given in Fig. 5.16. The output signal is calculated by
using formula Y = AX +B+C. Help input is used as displacement signal C. Ratio interlock
settings are principally is used in drives with closed loop control systems, e.g., to control a
pump by help of pressure feedback.
Signal level detections are intended to check output signals of the drive (frequency, current
and speed) and to obtain logic signals in the output, which shows the logic state of the
analogue signal (below or over the threshold level). The logic output signal can be used to
control the output relay.
Detection of output frequency, current and speed is shown in Fig. 5.17. Detection level is
selected by parameter B26-0 lower Fmax 1-20%. Control signal ATN attains the output
switched ON when the output frequency approaches the frequency setting. For output current
detection, a detection level by setting B26-1 5-300 % rated current is selected. Control signal
IDET current detection level is switched ON or OFF with hysteresis 5 %. For speed detection
the detection level SD1 or SD2 is selected by setting B26-2 or B26-3, depending on the
maximum frequency fmax in the range of 1-105 %. Control signal SPD depends on speed
detect level and is switched ON or OFF with hysteresis 1%.

92

Auxiliary input

B24-0/f1 = 2

B24-1
Gain

Upper and lower boundary

Voltage or current
input

(X)

B23-3

(C)

B23-4
(A)

Frequency
control
(Y)

(B)

Polaarsus
Polarity

Polarity
B23-0/f1 = 1:+
= 2:

B23-0/f0 = 1:+
= 2:
B23-1
Gain

B23-2
Bias

Figure 5.16. Signal fittings and ratio interlock settings

Frequency setting

Output current

Speed

Output frequency
B26-0

B26-2
5%

1%

B26-1
1%

B26-3

ON
ATN

ON

Time

ON
IDET

Time
SPD1
SPD2

ON

Time

ON

Figure 5.17. Detection of output frequency, current and speed

Motor current can be limited by the frequency (speed) decreasing like that does not overcome
the value set by the parameter B29-0. Motor rated current is considered as 100 % current. The
setting of overcurrent limit must be higher than the current of the unloaded motor.
At drive braking or at constant speed operation, the regenerative torque is limited. The limit of
regenerative torque is e.g., 10 % (parameter B29-1), when dynamical braking is not used.
When dynamical braking is used, the regenerative torque limit is determined by the formula

93

V2
Motor power , kW 100% ,
TLIM .RM =
Braking resist ,

where coefficient V2 is 148.2 when power supply voltage is 230V and 539 when the power
supply voltage is 400 V.
Motor heating time depends on energy losses (current of windings), thermal time constant and
cooling conditions. Cooling conditions depend on the speed of motor rotation. Because of
this, motor protection is set on in relation to the time-current characteristic, the form of which
depends on real the operation mode. Overcurrent limit settings are selected by the time-current
characteristics parameter B30-0. Depending on the setting of the parameter B30-0, the form of
the time-current characteristic varies (Fig. 5.18). The form of the characteristics depends also
on the motor load, e.g., CT, constant torque or VT variable torque. Relative current is
determined on the base of the rated current (100%).
Operating time
B30-0 = 50 %

B30-0 = 100 %

3 min
VT load
(B00-7 = 2)
2

CT load
(B00-7 = 1)

2)
50 %

100 %

1)
150 % Relative output current

Figure 5.18. Second-ampere characteristics of over current limit

There are additional settings for forward F RUN and reverse R RUN commands. The lower
limit of the starting and braking frequency determines the frequency level when the motor will
stop. At frequency setting 0, the real minimum frequency is 0.1 Hz and motor does not stop.
Motor stopping is possible by using settings B32-0. Upper limit of the starting frequency is
used when the motor must start to the low speed. The motor does not start when the frequency
setting is higher than the limit f = 0-20 Hz, but the command RUN is at ON. Hysteresis (with
width 0-20 Hz) of the starting and braking frequency externalizes the instability of the state of
the drive.
Starting time delay is used to synchronize the operation with other devices such as mechanical
brake. A time diagram of the starting timer is shown in Figure 5.19 (parameter B32-3). The
starting timer form a programmable time delay tdelay after the given start command F RUN.

94

ON
F RUN
ON
RUN Y
tdelay
B32-3

Figure 5.19. Starting time delay

The direction rotation, frequency of operation and operating cycles can be determined by the
macro program of the frequency converter and can be changed automatically. The
programmable settings of a programmable operation mode enable a cyclic operating of the
electric drive on principles of sequential logic.
On PID-control, a feedback signal to the additional input AUX is used. The block scheme of
the PID-control is shown in Fig. 5.20.
Setting parameters of the described frequency converter provide only an overview of the
possibilities of using contemporary converters. The full information about programmable
parameters is given in users manual of every type of a converter.

Frequency converter
M

PID
Frequency
reference

Pump

B24-1
COM AUX
0-10V

Figure 5.20. PID-control of a pump drive

95

Signal converter