Drive Fundamentals GD

Drive Fundamentals
(Confidential – For Internal Use Only)
Copyright © 2010 Rockwell Automation, Inc. All rights reserved.
1
AC Drive Block Diagram
3 phase AC
Encoder
(Confidential – For Internal Use Only) Copyright © 2010 Rockwell Automation, Inc. All rights reserved. 2
Typical Three Phase Inverter
Note: There are six transistors and six diodes in the inverter section of the drive.
The diodes are used during regeneration and are explained later. The (+) DC bus
is connected to the transistors collector while the (-) DC bus is connected to the
emitter. What is connected to the Base?
Positive DC Bus Line
T1
T2
T3
Negative DC Bus Line
So what does the inverter do?

Sine Weighted PWM
Bus Voltage
Level
The Sine weighted PWM “voltage” output to

the motor looks like this..
That voltage applied to an inductive load creates

a “current” waveform in the motor that is very
nearly a sine wave.
3 Phase PWM & Current Waveforms
The six transistors are turned on and off in a

certain order to form three phase pulse width
modulated waveforms..
The PWM waveform actually is a

Square wave DC voltage. This
voltage is applied directly to the
AC motor terminals.
Three Phase AC sine wave represent

the current waveform..
Inverter
We now know that the inverter converts DC to AC when we are powering

the motor. But what happens when the motor turns faster than what is
required?
Question?
I thought the DC Bus was to remain relatively constant, won’t regeneration cause
the DC Bus voltage to rise? Won’t this rise cause some damage to the drive?
The converter is reverse biased

or off during regeneration.
 Bus voltage rises during regeneration
 Regenerated Power
from the motor
Braking Chart
So when are each of these used?
So many choices, so little time.
Which drive do I choose?
See the drive product profile handout

Regulation, is it Important?
Frequency Control or V/Hz
Frequency
Speed Command Regulator
Driving Blindfolded ! !
True frequency drives use a crude Frequency Regulator to control speed.
What drives use V/Hz mode?

Speed Regulation
Open loop control vs Closed loop control
Speed Regulation
Sensorless Vector - Speed control is only as good as its speed regulator
Speed Speed
Command Regulator
Current?
Encoder?
It is better than the Frequency Regulator and can be improved with the use of
an encoder or current feedback loop
What drives use Sensorless Vector?

Specifications
Speed Regulation
• Open Loop - .5% of Maximum

– 1336 PLUS II, 1336 IMPACT, PF70, PF700*, PF700S
• Closed Loop
– PF4, PF40, 1305, PF70, PF700* - Not Available
– 1336 PLUS II - .1% of Maximum
– 1336 IMPACT - .001% of Maximum
– PF700* & 700S - .001% of Maximum
* Note – The PF700 is available for purchase in two control versions, standard & vector
control. In open loop, both have regulation at .5% of max. The standard control is not
available in a closed loop mode but performs quite well when purchased as a vector drive.
Torque Control
Field Oriented Control - Speed Falls where it may !
Torque
Torque Command Regulator
What drives use FOC?

Torque & Speed Control
FOC
Speed Torque
Command Command
Speed Torque
Regulator Regulator
Torque Regulation Specs
• 1305, 160, PF4, PF40, NONE

• 1336 PLUS II, PF70, PF700* NONE
• PF700* Limited
• 1336 IMPACT, PF700S 2-5%
– Open Loop
– Closed loop - better @ low speed
* Note – The PF700 is available for purchase in two control versions, standard & vector
control. The standard control can’t do any torque regulation while the vector control is good
but not quite as good as the Impact or 700S drives.
Drive Features Available
• Process PI • V/Hz Control

• Slip Compensation & • Sensorless Vector control
Droop • Vector & FOC control
• Inertia Ride Through • Encoder Feedback
• Power Loss • Motor Overload protection
• Shear Pin • Communication
• Flying Start capabilities
• S Curve, Accel & Decel • Analog & Digital inputs &
profiles outputs
• Auto-Economizer
Note: Some of our drives have all of these features included while others will have
less capability.
The End
Any Questions???
(Confidential – For Internal Use Only)
Copyright © 2010 Rockwell Automation, Inc. All rights reserved.
21

Drive Fundamentals GD

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Drive Fundamentals GD

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Drive Fundamentals

(Confidential – For Internal Use Only)

Copyright © 2010 Rockwell Automation, Inc. All rights reserved.

Positive DC Bus Line

Negative DC Bus Line

So what does the inverter do?

The Sine weighted PWM “voltage” output to

That voltage applied to an inductive load creates

The six transistors are turned on and off in a

The PWM waveform actually is a

Three Phase AC sine wave represent

We now know that the inverter converts DC to AC when we are powering

The converter is reverse biased

So when are each of these used?

Which drive do I choose?

See the drive product profile handout

Frequency Control or V/Hz

True frequency drives use a crude Frequency Regulator to control speed.

What drives use V/Hz mode?

What drives use Sensorless Vector?

• Open Loop - .5% of Maximum

Field Oriented Control - Speed Falls where it may !

What drives use FOC?

• 1305, 160, PF4, PF40, NONE

• Process PI • V/Hz Control

(Confidential – For Internal Use Only)

Copyright © 2010 Rockwell Automation, Inc. All rights reserved.

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