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Sinamics

G130 / G150 / S150 / S120


Closed loop control

© Siemens AG 2008 – Subject to change without prior notice


© Siemens AG 2008 – Subject to change without prior notice

Topics

System
overview
 Types of open and closed loop control
Technical data

Power Block
 Vector control with encoder
Mechanical
system
 Sensorless vector control
Motors

Options  V/Hz-control
General control
 Further functions
Closed-loop
Closed-loop
control
control

Tools Commiss.  Commissioning functions


Communication
Diagnostics
Application

Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Closed-loop control
A comparison of the different closed-loop control types
Control type V/f open-loop control Closed-loop Vector control Closed-loop Vector control
without nact encoder with nact encoder
System Features
overview

Technical data Dynamic performance Low Low to high High

Power Block Rise times High Average Low

Speed accuracy
Mechanical • low speed Low Average High
system • high speed Low High High

Motors Positioning accuracy --- --- ( High )

Commissioning Fast, menu-prompted Fast, menu-prompted Fast, menu-prompted


Options (for G150, S150) (for G150, S150) (for S150)

General control High power Suitable Extremely suitable Extremely suitable

Closed-loop
Closed-loop Group drives Suitable For mechanical For mechanical
control
control couplings couplings

Tools Commiss. Applications Group drives also Pumps, fans, Test stands, cranes,
pumps, fans, compressors, extruders, shears, presses,
Communication compressors, textile mixers, mills, centrifuges conveyor belts, cable
applications winches
Diagnostics
Application
Depending on the drive task, the user can select the optimum closed-loop control type.
Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice

A comparison of types of control

Control type V/Hz characteristic Vector control Vector control with Servo control
System without nact-encoder without n encoder nact
Features act
overview encoder

Technical data Dynamic response Low Low up to high High Extremely high
Rise times High Medium Low Extremely low
Power Block
Speed accuracy Low Medium High High
-low speed Low High High High
Mechanical -high speed
system
Positioning accuracy --- --- High Extremely high

Motors Commissioning Fast, menu- Fast, menu- Menu-prompted Menu-prompted


prompted prompted with extensive with extensive
parameterization parameterization
Options
High output Suitable Very suitable Very suitable Less suitable

General control Group drives Suitable When mechan- When mechan- ---
ically coupled ically coupled
Closed-loop
Closed-loop Applications Pumps, fans, Pumps, fans, Production Machine tools
control
control compressors compressors, machines
conveyor belts,
Tools Commiss. centrifuges

Communication Sinamics G130, G150, S150


Diagnostics
Sinamics S120
Application

Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Control unit CU320

System
3 1. The drive is controlled using the CU320 Controller
overview Unit (spare part)
2. The software and the actual drive parameterization
Technical data 4 are saved on a “Compact Flash“ memory card (spare
Power Block 1 part)
3. The Controller Unit is connected to the power section
and the terminal module through the internal “DRIVE
Mechanical
CLiQ“ communications.
system 6 4. Internal cabinet signals are connected to the digital
Motors I/O.
5. Communications to the cabinet operator panel are
Options 2 realized via PPI (RS232 point-to-point-interface) .
6. A PROFIBUS DP interface with PROFIdrive profile V3
General control 5 is available for communications to a higher-level
master system.
Closed-loop
Closed-loop
control
control Feature Customer benefits

Tools Commiss. Modular cabinet design up to the controller Components can be easily exchanged/replaced

Communication Unified platform for all Sinamics High quality and performance
Unified software basis Minimum training required
Diagnostics
Application CU automatically recognizes the power section Closed-loop control is defined for „pump drive“
Software and parameters on memory card Data security when replacing a controller
Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Features of the closed loop control


Closed loop control
System
overview  Vector control and torque control with/without encoder
 V/Hz-control with different characteristics
Technical data
 Automatic restart / restart on the fly / Vdc max-
Power Block controller
 Mot ID / Kinetic buffering (KIP)
Mechanical
system Features Customer benefits
Motors The performance of the  V/f control (open-loop) for group drives
closed-loop control can be  Vector control for high dynamic speed response and torque accuracy up
scaled to the limiting areas
Options
 Encoder interface for the highest speed accuracy
General control User-friendly basic  The closed-loop control can be very easily and transparently configured
commissioning using AOP30 or the Starter tool
Closed-loop
Closed-loop
control
control Setpoint channel with  Variable setpoint sources
 Suppression frequencies against machine resonance effects
Tools Commiss.
 Extensive n, f, I limits to protect the motor
Communication
 User-friendly ramp-function generator
Diagnostics Extensive functions for  Starting functions for many operating states
Application induction motors  V-DC link (min / max) controller
 Temperature monitoring functions
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 Optimization functions I DT LD
© Siemens AG 2008 – Subject to change without prior notice

System Overview
Closed-loop control functions

System Closed-loop control


overview
 Closed-loop Vector and torque control with and without encoder
Technical data  V/f control with various characteristics
Power Block
 Automatic restart function (this function is being prepared)
 Flying restart
Mechanical  Mot ID
system  Vdc max controller
 Kinetic buffering
Motors

Options

General control Setpoint channel


 Setpoints that can be toggled between from all interfaces selected via control
Closed-loop
Closed-loop commands
control
control
• Internal: 15 fixed setpoints, motorized potentiometer and jog setpoint
Tools Commiss. • External: PROFIBUS DP and analog customer interface
Communication  Four suppression bandwidths (skip frequencies) for resonant frequencies
 Minimum and maximum limits, direction of rotation reversal
Diagnostics
 Ramp-function generator with ramp-up/ramp-down times that can be
Application separately set as well as rounding-off and additional fast stop ramp.

Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Closed-loop control
Closed-loop and open-loop control modes
For applications with the highest speed / torque
Vector control accuracy for a wide control range
Closed-loop control mode, Vector P1300 Active current =
System
overview  Closed-loop speed control without encoder 20 torque
i
 Closed-loop speed control with encoder 21 current
Technical data iq
 Closed-loop torque control without encoder 22
Power Block  Closed-loop torque control with encoder 23 id Field current =
magnetizing current
Mechanical
system
V/f control For group drives
Motors
Open-loop control mode V/f P1300
 With linear characteristics 0
Options U [V]
 With linear characteristics and FCC 1
 With parabolic characteristics 2
General control
 With parameterizable characteristics 3
Closed-loop
Closed-loop  For drives with high frequency accuracy in the textile sector 5 f [Hz]
fn
control
control  For drives with high frequency accuracy with FCC 6
 With independent voltage setpoint 19
Tools Commiss.
Communication
Diagnostics The software of the SINAMICS S150 provides a wide range of modes for
Application open-loop/closed-loop control.
Parameter P1300 is used for easy basic parameterization.
Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Closed-loop control
Closed-loop Vector control
Open-loop
SINAMICS S150 /G150 / G130 Motors
control
System
overview Motorized Closed-loop Vector control
potentiometer
Technical data
Fixed value High speed stability
Power Block Analog setpoint With encoder or sensorless
Closed-loop torque control with Induction
SIMOTION load equalization control for
Mechanical
master-slave drives, e.g. for motor
system
continuous material webs,
Motors SIMATIC S7 gantries, …
Speed Current M
Options controller controller
Third-party
General control control n i
Closed-loop
Closed-loop
control
control Advantages of closed-loop Vector control
 Stability during load and setpoint changes
Tools Commiss.  Short rise times for setpoint changes ( improved control characteristics)
Communication  Short equalization times for load changes ( improved behavior/response to
noise/disturbance)
Diagnostics
 Accelerating and braking are possible with the max. adjustable torque
Application  The motor is protected using the selectable torque limit
 Closed-loop control of the drive and braking torque is independent of the speed
 Full holding torque is possible
Version:19.11.2008 at 0 speed
sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Basics of vector control


Induction motor
System
Field current iµ (2phase, simplified)
overview
of the stator
Technical data
Flux vector F
Power Block Active current
iw
Mechanical Of the rotor
system Mel ~ F * iW
Motors
Ständerbezugsachse

Options
w stator frequency
General control w i w i stator current
i i im magnetizing current
Closed-loop
Closed-loop iw ib iw active current
control
control F e load angle
ee
ee g flux angle
Tools Commiss.
im F g ia
Communication
Diagnostics The magnetizing current of the stator generates the flux.
Application
The flux induces a voltage in the rotor which causes the active current.
The active current
Version:19.11.2008 interacts sin-g150-4-08-e.ppt
with the flux and generates the torque. I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Closed loop vector control with encoder (VC)

System
Speed Current controller,
overview
controller active current
nset Iset, q
Technical data n Coordinate
transformation
Power Block - nact - Iist, q
P Vset
Field Current controller,
Mechanical K Phi
controller field current
system Φset Iset, d
Φ
Motors
act - Iact,d Motor model IUVW
Options

General control M
Closed-loop
Closed-loop
control
control
G
Tools Commiss. A speed encoder is used for closed-loop Vector control:
Communication  When a high demand is placed on the speed accuracy
 High demands are placed on the dynamic response (control behavior, behavior to
Diagnostics noise/disturbances)
Application  Closed-loop torque control is required in a control range greater than 1:20
 A defined and/or changing torque must be maintained for speeds that constantly
remain below approx. 5 % sin-g150-4-08-e.ppt
Version:19.11.2008 of the rated motor frequency p0310 I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Individual control of flux and torque

System
overview

Technical data

Power Block
0,2..2s
Change of Magnetizing current Rotorflux
Mechanical of the stator
voltage U
system

Motors i Individual
i iWirk
control
Options iWirk
iFeld iFeld
General control 5..50ms
Dynamic Change of Control of
Closed-loop
Closed-loop change of active current and the torque
control
control frequency f load angle
Tools Commiss. Flux and torque can be controlled individually.
Communication  Rated flux at any torque  offers an immediate response to full torque
 Possibility of optimizing power consumption for square-law load torque in the partial
Diagnostics
load range.
Application  Improved dynamic response in torque control.
 Reliable control even at high speed.
 High accuracy of speed even
Version:19.11.2008 in sensorless operation.
sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Closed-loop control
Closed-loop Vector control without encoder (SLVC)
Rotor
System active current
overview Speed Current controller,
controller active current
Technical data Iset, q
n nset
Coordinate
Power Block - nact - Iact, q
transformation

P Vset
Mechanical Field Current controller,
K Phi
system controller field current

set Iset, d
Motors
act - Iact,d Motor model
Options IUVW

General control

Closed-loop
Closed-loop Stator M
control
control
field current
Stator current is
Tools Commiss.
Torque-gen. current iq
Communication Flux-generating current id

Diagnostics
Sensorless closed-loop Vector control (without encoder)
Application  For single-motor drives using high-rating induction motors,
 From low up to high requirements placed on the dynamic response,
 For speed control ranges sin-g150-4-08-e.ppt
Version:19.11.2008 from up to 1:20. (> 5 % fn) I DT LD
© Siemens AG 2008 – Subject to change without prior notice

SLVC / Features at low speed

System
overview

Technical data

Power Block

Mechanical
system

Motors
Features at low speed: Sensorless Vector control with the
Options
The position of the flux and the actual speed following essential features:
is only determined via the motor model  Starts in the closed-loop controlled
General control The model is supported by the accessible mode (directly after the drive has
Closed-loop
Closed-loop currents and voltages. been excited)
control
control At low frequencies (around 0 Hz), the model  Passes through the low frequency
is not in a position to determine the speed. range (around 0 Hz) in the closed-
Tools Commiss. This is the reason that in this range, a loop controlled mode!
Communication changeover is made from closed-loop  Continuous closed-loop controlled
controlled into open-loop controlled operation. operation from approx. 5 % fn.
Diagnostics
Application The high-performance Vector control allows the open-loop controlled range at low
frequencies to be kept extremely narrow – this is the reason that many applications do not
require an encoder.
Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Closed-loop control
V/f open-loop control
Open-loop
System SINAMICS S150 Motors
overview
control
Motorized V/f control
Technical data
potentiometer
Power Block Fixed value Sensorless (no encoder)
Terminals Basic synchronous operation for Induction,
Mechanical group drives, e.g. using reluctance,
system Siemosyn motors in the textile synchronous
SIMOTION sector
(Siemosyn)
Motors For auxiliaries on machines
(pumps, fans, …)
Options
SIMATIC S7 V M
General control

Closed-loop
Closed-loop
Third-party
control
control control
Tools Commiss. f

Communication
Diagnostics
V/f open-loop control for a standard solution for basic drive tasks
Application  For group drives,
 Motors with power ratings less than 25% of the drive converter power,
 For testing during the commissioning
Version:19.11.2008 phase.
sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Closed-loop control
V/f control: Example of the control function Vd max
correction
V/f
Voltage
System V V
overview
f + +
RFG - +
Technical data
nset f f Frequency
Power Block
n + +
- +
Mechanical
system f>fs f<fs
Parabolic characteristics Imax
Current I*R Slip
Motors limiting compensation compensation

Options - Iact IxR Slip

Current actual value sensing


General control
M
Closed-loop
Closed-loop
control
control

Tools Commiss. - M = n*n for fans and Paramet. characteristics


pumps
Communication - energy saving as The torque characteristics
Diagnostics there is a low V that of the motor / machine
also results in low (e.g. synchronous motor)
Application currents and losses. are taken into account.

Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Starting functions

System Automatic restart


overview
 This allows an automatic start after power failure and/or fault within just a
Technical data few seconds – also with multiple start attempts.
Power Block  For Sinamics G150 / G130, this function has been implemented with a
new extremely transparent configuration screen form
Mechanical
system Flying restart
Motors  This allows a drive controller to be connected to a motor that is still
spinning
Options
Automatic restart Flying restart
General control

Closed-loop
Closed-loop
control
control Line failure / fault
 Acknowledge without restart
Tools Commiss.
 Acknowledge with 1 restart
Communication  Acknowledge with n restart
Diagnostics
Application
Starting functions for increased availability and a higher degree of user-friendliness.
Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Commissioning functions

System Automatic consideration of options


overview
 Options that influence the parameterization – like the encoder interface – are
Technical data incorporated when commissioning the drive

Power Block Line / Motor identification and controller optimization


 Line/DC link identification when first powering-up
Mechanical  Identification of the induction motor to determine its precise equivalent circuit
system diagram data by forcing a current at standstill
Motors  The speed controller is optimized to determine the controller parameters for the
spped loop while the motor is spinning
Options
Commissioning Wizard
General control Selects the line DC link identification
Closed-loop
Closed-loop
Selects the cabinet options
control
control Selects the controller mode
Selects the motor identification
Tools Commiss. Selects the controller optimization
Communication
Diagnostics
Application
The drive is optimized in a user-friendly fashion even when it is being
commissioned for the first time.
Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Energy functions

System Vdc-max closed-loop control


overview  The braking ramp is automatically flattened to avoid
overvoltage conditions in the DC link – this increases the availability
Technical data
 In conjunction with an Active Infeed – generally only required for power failure
Power Block (emergency retraction concept).
Kinetic buffering (Vdc-min)
Mechanical
 Vdc-min closed-loop control to buffer brief line supply failures in the ms range – and
system
makes sense for unstable line supplies
Motors

Options
Vdc max Vdc min
General control

Closed-loop
Closed-loop
control
control

Tools Commiss.
Communication Extended down ramp as Regenerative operation in
Diagnostics
function of the Vdc case of power failure
Application Energy functions increase the availability and reliability.

Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Protective functions

System Temperature monitoring to protect the motor


overview
 The motor temperature is evaluated and Imax is reduced
Technical data  Motor temperature with KTY, PTC or without thermo sensor using I2t calculation
of the saved motor model.
Power Block
Motor anti-stall protection
Mechanical  A stalled motor is protected against thermal overload in the form of a fault trip.
system
Drive converter temperature protection
Motors  A thermal model plus temperature sensor in the power modules can trip the drive
converter when threshold values are reached – or can reduce the thermal load
Options
Ground-fault monitoring (earth fault monitoring) at the output
General control  Insulation faults are detected by generating the summed current and result in a
trip. For IT line supplies, an insulation monitor is required
Closed-loop
Closed-loop
control
control Electronic short-circuit protection at the output
 Three-stage protection against short-circuit in the motor or motor cables (the
Tools Commiss.
current is limited by the closed-loop control, hardware threshold, UCE monitoring)
Communication
Diagnostics Even when the power limits are exceeded and a series of circuit faults occur at the
motor, the motor and drive converter are still protected.
Application

Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD
© Siemens AG 2008 – Subject to change without prior notice

Test functions

System Trace function in the commissioning tool


overview
 Analog and binary signals are traced to optimize the controller and troubleshoot the
Technical data drive
 Various signal waveforms are generated to test the control characteristics
Power Block

Mechanical
system

Motors

Options

General control

Closed-loop
Closed-loop
control
control

Tools Commiss.
Communication
Diagnostics
Application

Version:19.11.2008 sin-g150-4-08-e.ppt I DT LD

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