DESIGN OF DRIVES WITH OPTIMUM ACCELERATION

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1 DESIGN OF DRIVES WITH OPTIU ACCEERATION H. Grotstollen University of Pderborn, Germny Power Electronics nd Electricl Drives Koren-Germn Symposium Pohng, University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -1-

2 Survey: Introduction Design of constnt speed drives Design of ccelertion drives Conclusion University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen --

3 1. Introduction Two clsses of drive pplictions cn be distinguished: Constnt speed drives, e. g. printing mchines, ccelertion not criticl, low ccelerting torque. Requirements of lod concern speed w nd torque. Accelertion drives, e. g. robots, roll stnds, trnsporttion Requirement of lod dditionlly concerns ccelertion, torque required for ccelertion not neglegible. Procedure for design of constnt speed drives is well known: - selection of motor in ccordnce with sufficient power, - dption of torque nd speed by mens of ger. Procedure for design of ccelertion drives: - either tril nd error or clcultion of extreme vlues delivering uncler results when lod torque considered University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -3-

4 1. Introduction Components of drive, definition of symbols otor, chrcterised by generted (internl) torque, speed w, inerti Ger, chrcterised by trnsmission rtio r G, torque pplied by motor G, torque pplied to lod G od, chrcterised by internl resistive torque, speed w, inerti University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -4-

5 . Design of constnt-speed drives Idel ger no friction no slip Consequently w G G w r w G G r G G w Design of drive considering w-product : Choice of motor: P n P req n w P w n Design of ger: where r r r G1 G G r n G1, rg n w w n n University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -5-

6 . Design of constnt-speed drives Visulistion in /w-digrm chrcteristic of lod l: w =w ( G ) (ssumed to be liner) University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -6-

7 . Design of constnt-speed drives Visulistion in /w-digrm chrcteristic of lod l: w =w ( G ) (ssumed to be liner) chrcteristic of motor m: w =w ( G ) permitted opertion region University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -7-

8 . Design of constnt-speed drives Visulistion in /w-digrm chrcteristic of lod l: w =w ( G ) (ssumed to be liner) chrcteristic of motor m: w =w ( G ) permitted opertion region w : mximum lod speed if no ger is used University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -8-

9 . Design of constnt-speed drives Visulistion in /w-digrm chrcteristic of lod l: w =w ( G ) (ssumed to be liner) chrcteristic of motor m: w =w ( G ) permitted opertion region trjectory of constnt power w n n =P n =const. power of motor is sufficient University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -9-

10 . Design of constnt-speed drives Visulistion in /w-digrm chrcteristic of lod l: w =w ( G ) (ssumed to be liner) chrcteristic of motor m: w =w ( G ) permitted opertion region trjectory of constnt power w n n =P n =const. power of motor is sufficient g: chrcteristic of gered motor nd permitted region University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -1-

11 3. Design of ccelertion drives Ger ws ssumed to hve no friction nd no slip, therefore nd P G G G r, G G w G G r, G G w w rg w Now ger is ssumed to hve lso no inerti, therefore consequently G G r G Design of drive by considertion of -product Q University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -11-

12 3. Design of ccelertion drives Visulistion in -digrm Chrcteristic of lod: l G University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -1-

13 3. Design of ccelertion drives Visulistion in -digrm Chrcteristic of lod: l G Chrcteristic of motor: m G University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -13-

14 Visulistion in -digrm Chrcteristic of lod: l G Chrcteristic of motor: m : ccelertion chievble without ger 3. Design of ccelertion drives G University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -14-

15 3. Design of ccelertion drives Visulistion in -digrm Chrcteristic of lod: l G Chrcteristic of motor: m G Hyperbol of constnt University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -15-

16 Visulistion in -digrm Chrcteristic of lod: l G Chrcteristic of motor: m 3. Design of ccelertion drives G Hyperbol of constnt A opt : point t which pplied to ger nd lod is mximl University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -16-

17 . Design of ccelertion drives with inertil lod Visulistion in -digrm Chrcteristic of lod: l G Chrcteristic of motor: m G Hyperbol of constnt A opt : point t which pplied to ger nd lod is mximl Chrcteristic of gered motor: g University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -17-

18 . Design of ccelertion drives with inertil lod Visulistion in -digrm Chrcteristic of lod: l G Chrcteristic of motor: m G Hyperbol of constnt A opt : point t which pplied to ger nd lod is mximl Chrcteristic of gered motor: g Considertion of lod torque University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -18-

19 3. Design of ccelertion drives ximl -product of motor A opt : point t which pplied to lod is mximl University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -19-

20 3. Design of ccelertion drives ximl -product of motor A opt : point t which pplied to lod is mximl A mx : point t which generted by motor is mximl From figure results: mx opt mx Gopt -product Q pplied to lod mx Q mx Gopt 4 Q 4 mx University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen --

21 3. Design of ccelertion drives otor constnt chrcterising ccelertion cpbility: Power rte Q mx mx mx determined by mximum torque nd inerti of motor indictes rtio of mximum power nd ccelertion time i.e. derivtive of ccelerting power (t constnt torque) Q mx Q w mx mx n w n mx mx P T mx h (explins nme power rte nd unit kw/s ) University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -1-

22 3. Design of ccelertion drives Design of motor by use of -product: -product deliverble by motor : Q Gopt mx 4 mx Q 4 mx -product required by lod Q Greq ( ) Greq req req Power rte required by ppliction Q mx 4( req req ) University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen --

23 University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen Design of ccelertion drives - if lod torque neglected - if lod torque considered opt opt opt Q 1 1 mx Accelertion chievble with given motor opt Q mx 1 1 opt opt opt opt

24 3. Design of ccelertion drives Design of ger by use of -product: Accelertion of motor under optiml conditions: opt mx Accelertion of lod under optiml conditions: 1 opt opt opt Optiml ger rtio from i Gopt opt opt opt University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -4-

25 University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen Design of ccelertion drives Optiml ger rtio - if lod torque considered Gopt i 1 opt opt Gopt Gopt i i - if lod torque neglected 1 opt opt Gopt i

26 University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen Design of ccelertion drives. Ger rtio nd ccelertion s functions of lod torque Product of ger rtio nd ccelertion is constnt Note: ccelertion never becomes negtive mx Gopt Gopt Gopt Gopt i i 1 1 opt opt Gopt Gopt opt opt Gopt Gopt i i

27 Conclusion Drive optimistion ws performed by physicl considertion, not by clcultion of extreme vlues. At ccelertion drives -product plys the sme role thn w-product plys t constnt speed drives. The -product of the unloded motor is clled power rte, it determines ccelertion cpbility of motor. Under optiml conditions the -product pplied by the motor to the lod vi the ger is one fourth of power rte. Investigtion nd results - do not depend on motor technology, - cn be pplied esily to liner motors nd/or lods. In prctice some spects must be considered (requirement of speed, vrible lod torque, inerti of ger). University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -7-

28 . Design of constnt-speed drives Chrcteristics in cse of P P w n erf n Operting point cn be set between A 1 nd A n Choice of A 3 : optimum for given lod r r r G3 G1 G Choice of A : mrgin for torque, not for speed incresed lod inerti or lod torque permitted University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -8-

29 . Design of ccelertion drives with inertil lod Chrcteristics in cse of Q mx Qreq 4 gef At both limits of i G requirement fulfilled, but no mrgin University of Pderborn Power Electronics nd Electricl Drives, Prof. Dr. Horst Grotstollen -9-

Schematic diagram for the 8200 vector, 230 V Schematic diagram for the 8200 vector, 400/500V 1)

Schematic diagram for the 8200 vector, 230 V Schematic diagram for the 8200 vector, 400/500V 1) Generl informtion should e used to reduce the lod on the motor windings, s well s to reduce the cpcitive lekge currents to PE tht my e cused y the use of long motor cles. A motor filter is required: if