ABB变频器_ACS800软件和调试指导

Long experience since 1975 Єᆠⱘ㒣偠 150 000 drives totalling 5000 MVA power per annum ᑈ ѻ䞣催 Worlds leading drives manufacturer Ӵࡼࠊ䗴 Ϫ⬠乚‫ܜ‬
Extensive tests
© Company name - 13
M
3~
Control Principle
External references to drive
TORQ REF A
25.01
TORQ REF B
25.4
Torque reference
Torque reference chain
TORQ_REF1
2.08
TORQUE SELECTOR
MIN
0
32 1
MAX 45 6
AMC-BOARD
Torque ref. chain
SPEED REF
23.01
FLUX REF
27.03
Speed reference chain + -
Speed controller
PID
+
TORQ_REF2
+
2.09
TFOlRuxQScEoLntro2l6.01 chain
Control in short steps to avoid overshootinrgreefeferreennccee
VV/F/F rraattioio
V
MMoodduu--
f lalattoorr
AC
Control loop time 1-3 ms because of
modulator
1980’s: Flux Vector Control
ACS600
SAMISTAR
SAMI 70
ACS500 80
COMP-AC
2000 90
© Company name - 3
ACS 800
Evolution of AC drives
Ѹ⌕Ӵࡼⱘ䖯࣪੠থሩ
1970’s: Frequency Control
Traditional PWM
FFrreeqquueennccyy
f 0.01 % 0.1 %sec.
Speed 200 (rpm)
150
Torque Speed
Torque 500 (Nm)
© Company name - 16
100 0
1000
2000
3000
4000
0 5000 Time (msec.)
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ACS800
No high-pitch audible whine, due to just-in-time switching ेᯊᓔ݇ ≵᳝ 催乥ୌিໄ
Torque reference
Speed reference + -
Flux optimizing On/Off
Flux braking On/Off
Speed controller
PID + acceleration compensator
Actual speed
Torque reference controller
ACS 800
Evolution of AC drives
Ѹ⌕Ӵࡼⱘ䖯࣪੠থሩ
1980’s: Flux Vector Control
• Tachometer feedback required • Control loop time 1-3 ms because of
modulator
V
SSppeeeedd ccoonnttrrooll
DTC PWM
20
0
0
5
10
15
20
TToorrqquuee
MMoodduu--
ccoonnttrrooll f lalattoorr
AC
T
6
5
4
3
ψF
DC converter
1
2
=
M
M
ψΙ
w M=CmϕΙ
uα ψ
ψ1
ψ2 β
v
© Company name - 6
ACS 800
Evolution of AC drives
Ѹ⌕Ӵࡼⱘ䖯࣪੠থሩ
ACS800 䕃ӊϢ䇗䆩
© Company name - 1 01-04-06 -
World-class manufacturing
‫ܜ‬䖯ⱘ⫳ѻࠊ䗴ᡔᴃ
பைடு நூலகம்
Consistent supply mt anagemen
䚼ӊ఼ӊㅵ⧚
Casosmempubtleyr aided 䅵ㅫᴎ䕙ࡽ㺙䜡 Environment-friendly production ISO 14001 ⦃๗ֱᡸѻક High quality standards ISO 9001 催䋼䞣ᷛ‫ޚ‬
K
PI
Ib Ia
ψref
+ -ψ
⬉ᴎ῵ൟ n
䆚߿
Tr
© Company name - 11
ACS 800
DTC block diagram
Torque reference
Torque
Speed reference
Speed control
REF Torque reference
and flux comparator
VV/F/F
MMoodduu--
rraattioio f lalattoorr
AC
overshooting
Control loop time 1-3 ms because of
modulator
SPWM
+
F=50Hz
+ -
-
+
+
-
-
u0
M 3~
F=25Hz F=0Hz
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y
U3
U2
U4
U1
U5
U6
Ψs
U ~ Ψs
γ
Ψr x
γ∼Τ
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AC Drive System
Scale Control
SAMI GS: Element:IGBT ,Power< 400KW
fref Tref 䕀ⶽ᥻ࠊ఼
u
+
fref
u
uref
α
-
f
nref +
PI
-n
AC
© Company name - 4
ACS 800
Evolution of AC drives
Ѹ⌕Ӵࡼⱘ䖯࣪੠থሩ
1970’s: Frequency Control
Traditional PWM Control in short steps to avoid
V
FFrreeqquueennccyy rreefeferreennccee
Time New Torque level
© Company name - 15
PWM
䕀ⶽⳈ᥹㹿᥻ࠊ
ACS800
Unbeatable speed control
㊒⹂ⱘࡼ䴭ᗕ᥻ࠊ
Precision Of Static and Dynamic
Static speed error Dynamic speed error
Low motor noise, due to sophisticated flux optimisation ⺕䗮Ӭ࣪ˈ ‫ޣ‬ᇣ⬉ᴎా䷇
Low-noise fans Ԣా䷇亢ᴎ
Noise 80 level (dB) 60
40
Low audible noise
Typical motor noise spectrum
• Tachometer feedback required • Control loop time 1-3 ms because of
modulator
V
SSppeeeedd ccoonnttrrooll
TToorrqquuee
MMoodduu--
ccoonnttrrooll f lalattoorr
DTC core
Internal torque reference Torque comparator
Flux comparator
Torque status
Control signals
Flux status
DC bus
Optimum pulse
selector
Switch position
~ commands Inverter
1990’s: Direct Torque Control
• Torque controlled by a single step • No risk of overshoot with fast 25 µs
control loop
SSppeeeedd ccoonnttrrooll
TToorrqquuee ccoonnttrrooll
ϹḐ⌟䆩 - High voltage
test - Insulation test - Functional test - Stress
screening - Final test
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Evolution of VSD-AC drives
Ѹ⌕Ӵࡼⱘথሩग़৆
ACS800
AC
T
1990’s: Direct Torque Control
• Torque controlled by a single step • No risk of overshoot with fast 25 µs
control loop
SSppeeeedd ccoonnttrrooll
TToorrqquuee ccoonnttrrooll
ᓔ⦃᥻ࠊ
䯁⦃᥻ࠊ
䖛䕑ֱᡸ
Iactive
α
ia ib
© Company name - 10
M
AC Drive System
Vector Control
SAMIStar:
IGBT < 400KW > GTO
ψ ref T ref
N ref
Id,ref
Uref
⺕䗮䇗㡖
Iq ref Id Iq
࡯ⶽ䇗㡖
+ Fref +
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Stator Voltage Phasors
Inverter & motor
+
-
SA
SB
SC
M
-+ -
++-
-+ +
+--
© Company name - 8
--+
+ -+
Hysteresis Control Principle
Flux is a function of input voltage Torque depends on flux vectors: T = c (Ψs x Ψr)
AC
u v w Input: Voltage Current frequency
Aftermath: Magnetization Torque speed
Input: Voltage Current On-off
motor module
Aftermath: Magnetization Torque Speed frequency
DC bus
~Inverter
DC VOLTAGE
1.10
MOTOR CURRENT
1.06
© Company name - 14
MAIN CONTROL WORD
7.01
control logic
MAIN STATUS WORD
8.01
M
3~
ACS800
Excellent torque control
• ࡯ⶽ䰊䍞Ϟछᯊ䯈
DTC Flux vector Open loop PWM
< 5 msec. 10 to 20 msec. > 100 msec.
1,00
Current
0,50
0,00
Torque
᮴㓪ⷕ఼ˈৃ㊒⹂᥻ࠊ ࡯ⶽ
䳊䗳⒵䕀ⶽ
DTC
Torque:
DTC
New Current level
PWM
TORQ USED REF
2.13
Flux ref
Flux reference chain
FLUX USED REF
2.14
MOTOR SPEED
1.02
Actual speed
DTC core
Torque controller
Flux controller
Line
Supply Section
position Switch commands
Flux reference controller
U
Actual torque Actual flux
f U
Adaptive motor model
f
Internal flux reference
Switch positions DC bus voltage
Motor current Motor current
Switching logic
=
controller
Torque Flux
PID
Switch positions
Motor model
Voltage Current
3~ Calculated speed
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ACS 800
DTC block diagram
Line Rectifier
PWM
PWM
DC drive
no encoder with encoder with encoder
DTC no encoder
DTC with encoder
f 1 to 3 % 3 %sec.
f 0.01 % 0.3 %sec.
f 0.01 % 0.3 %sec.
f 0.1 to 0.5 % 0.4 %sec.