Lab Exercises
Actuators and EMC/Sensory Analysis
Data:
Faculty of Mechatronics
and Electrical Engineering
Lab Electrical Drives
and Installations
Lab-exercise EA - 3
Motion - Control - System
Semester:
Group:
E-Mail Address Reporter:
Pre-signature of Instructor:
Reporter:
Co-reporter:
Signature:
Data:
Tip:
To carry out the experiment you need a USB-Stick. All characteristics
´which recorded in „Trace“ must be saved in WMF-Format.
1
Introduction
With this experiment you should
 recognise the structure of the system
 get used to the software “Drivemonitor”
 get used to the recording tool “Trace”
 investigate different starting performances
Synchronous motors are polyphase motors. The rotating field of the stator and the
magnetic field of the rotor have the same speed. Synchronous machines with permanent magnets generate the exciting field by permanent magnets. Therefore you need
no excitation power as well as no device to transmit the excitation power. Due to new
magnetic materials the power density of the motors raised and the mass was reduced. The consequence is that more and more servo-systems are equipped with
permanent magnet synchronous motors = AC-Servomotors.
2
Experimental Set-up
The control system enables to control both inverters via the serial interface as well as
the direct parameterization via the integrated operator’s panel (PMU). The software
Drivemonitor makes it possible to adjust all parameters for the position control as well
as speed control as well as current controller and to represent it with the graphical
tool “Trace”.
The sensor system consists of an absolute-value generator (1FK-7044) and a resolver (1FK-7042) which is responsible to measure the speed as well as the rotor angle
as well as the position of the machine. The resolver is a transformer whose rotor exists of one coil and the stator of two coils which have an angle of 90° to each other.
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Actuators & EMC/Sensory Analysis
Lab-Ex 3
M-C-System
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The inverter is voltage controlled. The power inverter (IGBT) causes low switching
losses as well as simple triggering and a high switching rate. The pulse-duration
modulation (PDM) generates a variable output frequency between 0 and 400 Hz. The
pulse duration is controlled by the manipulated variable of the current controller.
Therefore you will have nearly a sinusoidal current. To protect the IGBT they have
free-wheeling diodes.
The structure of the controller exists of a position controller which creates the system
deviation between the actual position and the position setpoint value. Out of these
values the desired value of the speed (nsoll) is created. The speed controller produces
out of the desired value and the actual value of the speed the desired value of the
current which is linked to a limiter circuit. The current controller compares the desired
and the actual value and controls the power inverter with the PDM. Both machines
are engaged by a speed-stabilizing flywheel coupling to show the influence of the
control parameters.
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Actuators & EMC/Sensory Analysis
Lab-Ex 3
M-C-System
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3
Tests
3.1 Name plates
Motor drive
Manufacturer:
Type:
M0
I0
MN
IN
Th. Cl:
UiN
Braking element
nmax
nN
IP
Manufacturer:
Type:
M0
I0
MN
IN
Th. Cl:
UiN
nmax
nN
IP
3.2 Basic setting
First of all you should have exercise with the software “Drivemonitor”. Carry out the
following procedure:
 Connect the serial cable with the inverter on the left side
 Start “Drivemonitor” (Icon on desktop)
 Create a new empty set of parameters with the bus-address 0 (store in the
program schedule „c:\Laboruebung\“ - vorhandene Datei „Masterdrives
MC_tmp.dnl überschreiben“)
 Go online [EEPROM]; load standard drive file with „Datei/Download/Speichern
[EEPROM]…“ into the inverter
 Start the recording program “Trace” with the following setting parameters:
Aufzeichnungskanäle: „KK0150: n(soll, glatt)“
„KK0151: n(ist, glatt)“
Aufzeichnungsintervall:
„1“
Pretrigger:
„10%“
Triggerkanal:
„B2100:SSTWort1Bit0“ & „Binektor = 1“
 Speed limit: 50 % of the rated speed
 Start the recording with “Start” and “Ein” and store the speed characteristic
 Change KP (P235.1), TN (P240.1) and the recording interval in accordance
with the table below and store the characteristics
 Discuss the results
Experiment No.
KP
Tn / ms
Recording interval
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5
1000
1
Actuators & EMC/Sensory Analysis
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1
1000
3
Lab-Ex 3
3
1
50
3
M-C-System
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3.3 Acceleration time
The starting performance of a motor can be influenced not only by control quantities
but also by other parameters like the acceleration time (P462).




Set KP = 50 and TN = 1000 (P235 and P240)
Set 50 % of the rated speed and record the characteristic with “Trace”
Adjust for experiment 5 the acceleration time 2s (Parameter P462)
Compare and discuss both characteristics
Experiment No
Acceleration time / s
(P462)
Aufzeichnungsintervall
4
0
1
5
2
3
Experiment No 4:
Find out the acceleration time tH and calculate the inertia J of the machine set. During
this experiment the motor torque is M = MN and the friction-torque is MR = 0,438 Nm.
4 Start-up under load
For the experiments no 1 to 5 the left motor was driven alone. Now the right one is
used to create the load torque. Proceed as follows:
 The acceleration time of the motor has to be set to 0
 Set the value of the parameter P263.1 at the right inverter as it is shown in the
following table (Brake-torque / %)
Tip: Choose with the button “P” in the parameter list the desired value and edit it by repeated operation of the “P”-button
 Switch on the brake with the green button and record the characteristics no 6
and 7 with “Trace”
 Record additional the torque „K0241: M(ist)“
 The alarm A034 signifies a setpoint/actual-value deviation
Experiment No
Brake-torque / Nm
Brake-torque / %
Recording interval
6
1
16,1
1
7
2
44,6
3
Tip:
Friction-torque of the machine set: MReib = 0,438 Nm
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Actuators & EMC/Sensory Analysis
Lab-Ex 3
M-C-System
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5 Load during operation
Before the starting performance of the drive was investigated when the drive was
switched on under load. Now the load is switched on by running motor. This corresponds to a tool machine which removes material with a tool.



6
Choose the trigger channel „KK0151: n(ist, glatt)“ under the condition “<” and
the trigger threshold “9%”; recording interval: 3
Turn off the right inverter with the red button and adjust a brake-torque of
44,6 % = 2 Nm
Operate the left motor at 10 % of his rated speed. Start “Trace” with „Start“
and „Ein“ and switch on after this the brake with the green button on the inverter
Evaluation
6.1 Document all characteristics and give comments
6.2 Do you recommend the setting of the speed controller (KP = 5; Tn = 1s)? Give
reasons.
6.3 Calculate the inertia of the machine set with the datas of the starting ramp
6.4 Experiment 5: Why is the recorded acceleration time only 1 s and not 2 s as the
assigned parameter?
6.5 Why did you choose other trigger conditions in comparison to the measurements before?
6.6 Calculate the rated power PN of the motor.
This paper is part of your exercise; it must be submitted together with your
calculations and discussions.
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