electric drive control systems (parameterization of ... 2.pdf · armature gating unit is used to...

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Ministry of education and science of Russian Federation Y.V. Plotnikov ELECTRIC DRIVE CONTROL SYSTEMS (Parameterization of Thyristor Converters SIMOREG DC MASTER) Electronic textbook The textbook is intended for the Masters in the direction of 140 600 Electrical engineering, Electromechanics and electrotechnics of specialty 140 604 “Electric drives and electric drive control systems” Science editor: Associate Professor, Candidate of technical science N.D. Yasenev Produced by “Electric drive and automatics of industrial plants” department Methodological course book contains the detailed description of methods and principles of parameterization of the thyristor converters Simoreg DC master for direct current electric drives. The methodical course book is intended for the “Electric Drive Control Systems” discipline. Methodical course book was composed according to the work programme of profile 140604 Electric drive and automation of industrial plants and technological complexes. Methodological course book is meant for Master of Science of full time education form. Yekaterinburg 2012

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Page 1: ELECTRIC DRIVE CONTROL SYSTEMS (Parameterization of ... 2.pdf · Armature gating unit is used to produce the control angle of thyristor convertor from the control voltage signal and

Ministry of education and science of Russian Federation

Y.V. Plotnikov

ELECTRIC DRIVE CONTROL SYSTEMS (Parameterization of Thyristor Converters – SIMOREG DC

MASTER)

Electronic textbook

The textbook is intended for the Masters in the direction of 140 600 –

Electrical engineering, Electromechanics and electrotechnics of specialty

140 604 – “Electric drives and electric drive control systems”

Science editor: Associate Professor, Candidate of technical science N.D. Yasenev

Produced by “Electric drive and automatics of industrial plants” department

Methodological course book contains the detailed description of

methods and principles of parameterization of the thyristor converters

Simoreg DC master for direct current electric drives. The methodical

course book is intended for the “Electric Drive Control Systems”

discipline.

Methodical course book was composed according to the work

programme of profile – 140604 Electric drive and automation of

industrial plants and technological complexes. Methodological course

book is meant for Master of Science of full time education form.

Yekaterinburg

2012

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CONTENTS

TABLE OF CONTENTS ............................................................................................ 2

INTRODUCTION ....................................................................................................... 3

1. GENERAL INFORMATION ABOUT SEMOREG CONVERTOR ................ 4

1.1. BRIEF DESCRIPTION OF CONTROL SYSTEM IN THE SIMOREG DC MASTER

CONVERTER ................................................................................................................. 4

1.2. USING THE BICO TECHNOLOGY IN THE SIMOREG DC MASTER CONVERTER

.................................................................................................................................... 7

2. PARAMETERIZATION OF SIMOREG DC MASTER .................................... 9

2.1 PARAMETERIZATION OF SIMOREG DC MASTER CONVERTOR WITH USING

SIMPLE OPERATOR CONTROL PANEL ............................................................................. 9

2.1.1 The LEDs assignment ......................................................................... 10

2.1.2 The buttons assignment ...................................................................... 10

2.1.3 Parameter types .................................................................................. 11

2.1.4 Parameterization example from simple operator control panel ........ 12

2.2 PARAMETERIZATION VIA THE SERIAL INTERFACE WITH USING THE DRIVE

MONITOR SOFTWARE ................................................................................................. 13

2.3 THE PARAMETERIZATION SEQUENCE OF SIMOREG DC MASTER CONVERTER

.................................................................................................................................. 17

2.3.1 Access level setting to the converter parameters and factory reset ... 17

2.3.2 Setting the rated converter voltage and current ................................ 17

2.3.3 Setting the motor rated data ............................................................... 18

2.3.4 The setting of speed sensor parameters ............................................. 19

2.3.5 The setting of armature current ramp-function generator ................ 20

2.3.6 The limitation of armature current and electromagnetic torque ....... 20

2.3.7 Parameterization of ramp-function generator ................................... 22

2.3.8 Automatic parameterization of armature current closed loop .......... 23

2.3.9 Automatic parameterization of speed closed loop ............................. 25

3. THE PARAMETERIZATION OF THYRISTOR CONVERTER FOR WORKING IN THE

PROFIBUS-DP NETWORK ........................................................................................ 28

3.1. Brief information about the PROFIBUS-DP ....................................... 28

3.2. The Simoreg DC Master convertor as a slave unit on the PROFIBUS31

3.3 Control and Status words and speed setpoint signal ............................ 34

3.4. The using of PKW mechanism for processing parameters .................. 39

3.5. The parameterization of Simoreg convertor for working from

PROFIBUS-DP ...................................................................................................... 43

3. THE PLOTTING OF TRANSIENTS OSCILLOGRAMS WITH USING THE

DRIVE MONITOR SOFTWARE ........................................................................... 45

GLOSSARY ............................................................................................................... 50

REFERENCES .......................................................................................................... 55

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INTRODUCTION

Nowadays the Microprocessor-Based Converters are widely used in the

different electric drive systems and technological complexes. Despite of some

disadvantages (the maintenance requirements, low power factor, low reliability of DC

motor etc.), compare to the alternating current electric drive these systems have some

advantages, such as:

low coast four quadrant operation;

continuous duty at low speeds with full electromagnetic torque;

high starting torque;

wide speed range for constant power;

minimal space requirements.

The adjusting of microprocessor control system in the thyristor convertor is

made by means of parameters, which are responsible for some special functions of

control system. Often, the special software is used to vary the convertors parameters

and to monitor the electric drive state.

Therefore the practical skills of parameterization of microprocessor control

systems of thyristor converters is a one of most important skills of modern engineers.

The Simoreg DC Master convertors are the part of Siemens automation

technologies. The Simoreg converts family is available for wide power range from

6.3 to 2500 kW. It has a wide range of different functions, which are widely used on

practice. The availability of digital and analog inputs/outputs and network connection

allow user to connect converter to the external control systems and sensors.

The main feature of Simoreg DC Master Convertor is that it allow user to

modify its own control system by means of BICO technology. It means that closed-

loop control functions are implemented in the software as program modules that are

“wired up” via parameters.

The Simoreg DC Master with communication board can also be used as a slave

unit in the different industrial networks, such as PROFIBUS. And in the Simoreg

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converter it is possible to set parameters from the programmable logic controller by

means of PROFIBUS network.

This methodological course book contains detailed description of methods and

principles of parameterization the microprocessor control system in the thyristor

converters Simoreg DC master for direct current electric drives. The methodological

course book is belonged to the “Electric Drive Control Systems” discipline.

1. GENERAL INFORMATION ABOUT SEMOREG CONVERTOR

1.1. Brief description of control system in the Simoreg DC Master

Converter

The functional diagram of control system, which is used in the Simoreg DC

Master converter, is shown on the figure 1 [5]. This control system is based on the

subordinate control principles. In the armature circuit control system consists of inner

armature current closed loop and outer speed closed loop. In the current control

system the armature precontrol is used to increase the performance of current loop in

the interrupted current mode of thyristor converter. That is in the current closed loop

the technical linearization of plant in the interrupted current mode is used.

Armature gating unit is used to produce the control angle of thyristor convertor

from the control voltage signal and to limit the control angel on the acceptable levels.

Also in this functional block the current direction is selected.

To protect motor from overload conditions the current and torque limitation

blocks are used.

The P or PI speed controller can be used in the automatic speed control system.

The selection of controller type is produced by means of some parameters, which are

described in detail below. It is also possible to set additional filters both in the speed

and current closed loops. The actual speed signal comes from the speed sensor. The

different speed sensor can be used in this control system from different encoder to

analog tachogenerators. It is also possible to build sensorless speed control system.

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The speed limitation block protects motor from the speed exceeding and is set

on the input of the speed control system.

The ramp-function generator (RFG) allows to limit the dynamic motor torque

in the transient mode of electric drive. In this system both the second order RFG and

the first order RFG can be used. The selection of RFG type is produced by means of

serial parameters. Other parameters set an acceleration and deceleration time of

electric drive.

The control system in the field circuit consists of inner field current closed

loop and outer electro-motive force (EMF) closed loop. In the both loops the

precontrol technology is used to increase the performance of control system.

The field current limitation is used to protect field circuit from the high field

current. This nonlinear element allows to flow field current only in positive direction.

The proportional-integral EMF controller is used to compensate the persistence

in the EMF calculation circuit. The actual EMF value is calculated based on the

armature current and voltage signals. Than calculated EMF signal flows through the

nonlinear element with module characteristic.

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1.2. Using the BICO technology in the Simoreg DC Master converter

The connectors and binectors are the basis of BICO technology (BInector

COnnector), which is used to connect the different functional blocks each other and

to build the different control systems. The inputs and outputs of each functional block

are available in the form of connectors. To put in other words, connector is a 16 or 32

(double-word connector) bit signal of some functional block. Connectors have a

value range of –200 % to +199.99 %. The connections between individual function

blocks can be selected by means of convertor parameters.

The binector is a logic value and can be equal 0 or 1. For example, some

binector is used as a start “button” of electric drive, while the some connector is used

as a speed setpoint value.

There are many different freely assignable function blocks in the Simoreg DC

Master convertor such as:

fault and alarm message triggers;

connector / binector converters;

mathematical functions (adders, substractors, switchable sign inverters,

multipliers, dividers, absolute-value generators etc.);

limiters and limit-value monitors;

processing of connectors (maximum and minimum selectors, averagers,

tracking and storage elements etc.);

position deviation acquisition and root extractor;

control elements (integrators, derivative and delay elements,

technological controllers etc.);

ramp-function generators;

counters;

logical functions (and, or, exclusive or, decoders and demultiplexers,

inverters, RS flipflops, timers etc.).

These functional blocks allow user to realize the complex automatic control

system of electric drive. The connectors and binectors also allow to modify existing

control system according to the special electric drive requirement.

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The control system structure of Simoreg convertor is presented in view of

functional diagram in the operating instruction [5]. The description of different

elements on the Simoreg functional diagrams are shown in the table 1.

Table 1

Description of main elements for BICO structure

Indication Description

1 2

Binector – is a logical signal, which may have two value 0 or 1. The binector

is used to send and receive logical signals both in the inner circuit of

convertor and external signals from other devices. Writing form: В ХХХХ,

where ХХХХ – binector number.

Connector – 16 or 32 bit signal, which is formed in the converter program or

converted from the analog signal.

There are two connector types:

К ХХХХ – 16 bit connector;

КК ХХХХ – 32 bit connector;

where ХХХХ – connector number.

Hard connected binector (selection is not possible)

Hard connected connector (selection is not possible)

The binector selection. In the brackets the factory setting is shown. The values

range is all binector numbers.

The binector selection with using index parameter. In the brackets the factory

setting is shown. The values range is all binector numbers. It is possible to

select one of connected binectors by means of parameter index. Parameter

index is selected via control words.

Selection of one binector from factory ones with index parameter.

Connector selection. In the brackets the factory setting is shown. The values

range is all connector numbers.

The connector selection with using index parameter. In the brackets the

factory setting is shown. The values range is all connector numbers. It is

possible to select one of connected connectors by means of parameter index.

Parameter index is selected via control words.

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Table 1. Continuation

1 2

The connector selection with using index parameter. In the brackets the

factory setting is shown. The values range is all connector numbers. It is

possible to select one of connected connectors by means of parameter index.

Parameter index is selected via control words.

Selection of one from factory connector with index parameter.

Link to the 152 page of functional diagram.

2. PARAMETERIZATION OF SIMOREG DC MASTER

2.1 Parameterization of Simoreg DC Master Convertor with using simple

operator control panel

The simple operator control panel (PMU – Parameterization Unit) is a part of

Simoreg DC Master Converter and consist of display, three status LEDs and three

keys (fig. 2). This panel is mounted on the convertor face and allows user to adjust all

parameters and select the structure of microprocessor control system. The parameter

value and number is shown on the 5-digit segment display. The three LEDs are used

to estimate the status of thyristor convertor. For example, the Ready LED shows that

the electric drive, which is powered from thyristor convertor, is ready to run.

Fig. 2. Simple operator control panel

The description of LEDs and control panel buttons is shown below.

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2.1.1 The LEDs assignment

Run – green LED is illuminated during the normal work (without errors) of

electric drive with set electromagnetic torque direction. The state of electric drive can

be displayed in the r000 parameter.

Ready – yellow LED is illuminated during the electric drive is in ready to run

state. (o1 – o7 – parameter r000).

Fault – red LED is continuously illuminated whet the some error of electric

drive is occurred during the work or parameterization process. The error number is

indicated on the panel display. And LED is flashed during the alarm mode of electric

drive and warns user about the invalid mode of thyristor convertor.

2.1.2 The buttons assignment

The buttons assignment on the simple operator control panel is shown in the

table 2.

Table 2

The PMU buttons assignment

Button Assignment

Switches between parameter number, parameter values and index number of

indexed parameters.

Acknowledges the active fault messages (fault reset).

Simultaneous pressing P and UP keys will lead to switch the active fault

message to the background.

Simultaneous pressing P and DOWN keys will lead to switch the active fault

message to the foreground display on the PMU.

Selects the higher parameter number in the parameterization mode. When the

highest parameter number is reached, the pressing the key returns to the other

end of parameters number range.

Increases the selected and displayed parameter value in value mode.

Increases the parameter index in index mode (for indexed parameters).

Accelerates an adjustment process activated with the DOWN key (if both keys

are pressed at the same time).

Selects a lower parameter number in parameter mode. When the lowest number

is displayed, the key can be pressed again to return to the other end of the

number range (i.e. the lowest number is thus adjacent to the highest number).

Decreases the selected and displayed parameter value in value mode.

Decreases the parameter index in index mode (for indexed parameters).

Accelerates an adjustment process activated with the UP key (if both keys are

pressed at the same time).

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2.1.3 Parameter types

The main parameters of Simoreg convertor are displayed on the PMU as a P, r,

U and n. Parameters for an optional supplementary board are called H, d, L or c

parameters. The parameters list can be divided in to three main groups:

Display parameters (r) are used to display the current values of controlled

variables, such as speed setpoint, actual speed, actual voltage, armature current

setpoint, armature current, etc. The values of display parameters are read-only values

and cannot be changed. The most important display parameters are shown in the

table 3.

Table 3

The display parameters description (selectively)

Parameter

number Parameter description Value range

r000

Operating status display (selectively):

o1.x – waiting for operating mode.

o2.x – wait for setpoint.

o3.x – test mode.

o4.x – waiting for armature voltage.

o5.x – waiting for field current.

o6.x – wait status before the line contactor is closed.

o7.x – wait for switch-on command (o7.0 – waiting switch-

on from the terminal, o7.1 waiting switch-on via binector).

o8.x – waiting for acknowledgement of starting lockout.

o9.x – fast stop (OFF3).

o10.x – voltage disconnection (OFF2).

o11.x – fault.

o1.x – o15.x

r001 Motor speed setpoint (terminals 4 and 5) from – 200 to 199,99 %

r002 Actual motor speed (terminals 103 and 104) from – 200 to 199,99 %

r019 Armature current value from – 200 to 199,99 %

[% from P100]

r021 Electromagnetic torque setpoint after limitation from – 200 to 199,99 %

r023 Difference between the speed setpoint and actual speed

(speed error)

from – 200 to 199,99 %

r027 Display of ramp-function generator output from – 200 to 199,99 %

r037 Actual value of motor electro-motive force от – 1500 до 1500 V

r038 Armature voltage value от – 1500 до 1500 V

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Besides, by means of parameters P042, P044 and P046 in the parameters r041,

r043 and r045 on the indication the values of different binectrors and connectors can

be displayed.

For example, the setting P042=K0142 (K0142 – motor electromagnetic torque

in percent) means that the in the parameter r041 the motor torque will be displayed.

Setting parameters (P, U, n) are used to display and change converter

parameters such as the rated motor current, thermal motor time constant, speed

controller P gain, etc. These parameters are used to adjust the microprocessor control

system in the thyristor convertor before the electric drive running.

Indexed parameters (P, U, n) are used to both display and change several

parameter values which are all assigned to the same parameter number. It means that

some parameters of convertor have a number of different values, which are located in

the different parameter indexes. The parameter index can be changed during the

electric drive work. It allows users to change the control system setting depending of

different working conditions of electric drive.

2.1.4 Parameterization example from simple operator control panel

Let’s consider the changing of starting time P303 from factory setting

P303=10 sec to the value 5 sec:

1. To reach the parameter number from the operational display state (o7.0 see

table 1), press the P key and then the Up or Down key to select parameter number

P303.

2. To reach the parameter index level from the parameter number level, press P

and then the Up or Down key to select individual index in00. If you press P when a

non-indexed parameter is displayed, you go directly to the parameter value.

3. To reach the parameter value P303 from the parameter index level press P

button one more time.

4. By pressing the Up or Down keys, set the parameter value P303=5 sec and

press P button to acknowledge the setting parameter value.

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2.2 Parameterization via the serial interface with using the Drive Monitor

Software

The parameterization examples will be considered on the laboratory setup,

which was described in detail in the methodological course book for laboratory

work [4].

Before the laboratory setup will be powered it is necessary to connect the

thyristor converter to the personal computer by means of special cable. Then, the

power convertor is switched on, and after that the personal computer is switched on.

The Drive Monitor Software allows users to adjust the parameterization of

microprocessor control system in the converter and to plot the transients in the

electric drive.

At first it is necessary to choose the new parameter set with factory

settings (fig .3).

Fig. 3. New parameter set in the Drive monitor window

Then, in the Drive properties windows it is necessary to select the Drive type –

Simoreg DC Master and point the software version 02.0 (fig. 4). The remainder

parameters are selected according to the figure 4.

Then it is necessary to replace the existing file SIMOREG DC

MASTER_tmp.dnl with factory settings. After that, the parameters list with factory

setting is appeared. Connection between the thyristor converter and PC is set by mean

of key Online RAM on the control panel of Drive monitor software.

In the case of successful connection, in the device status line the message

Connection with device OK will be appeared. The main window of Drive monitor

Software is shown on the fig. 4.

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Fig. 4. The Drive Properties window

If the connection PC with device is not set, it is necessary to check the Online

Setting in the menu Tools. At first, it is recommended to select another COM port

number (see fig. 6).

Attention! The Online Setting parameters are changed only after the restarting

of Drive monitor program.

In the Drive Monitor Software the parameters are changed by means of dialog

boxes, in which the parameter values are set or selected from the parameter list. In the

left part of program, the parameter tree is situated, which is used to group the

parameters of converter according to the functional destination (see fig. 5).

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Fig. 5. Main window of Drive Monitor Software

Fig. 6. Connection convertor with PC windows

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Assignment of main buttons on the control panel of Drive Monitor (see fig. 5):

– Online-RAM is used to connect the PC with RAM (Random Access

Memory) memory of thyristor converter.

– Online-EEPROM is used to connect the PC with EEPROM (Erasable

Programmable Read-Only Memory) memory of thyristor converter.

– Parameter list complete is used to show the full parameter list.

– Free Parameterization is used to switch in the free parameterization

mode. In this mode, at first, the parameter number is entered, and after that the

parameter value is set.

– Parameterization guide launches the convertor parameterization wizard

for quick taking into operation the thyristor converter.

– Online settings are used to set connection parameters between the

convertor and PC.

– Trace launches the transients building mode for direct current electric

drive.

– Download RAM – downloads user parameter from file to RAM memory

of thyristor converter.

– Download EEPROM downloads user parameter from file to EEPROM

memory of thyristor converter.

– Upload base unit – uploads the all parameters from the convertor to file.

– Upload base unit (only changes) – uploads the parameters, which are

different from factory setting, from the convertor to file.

The other buttons assignment is intuitively obvious for users.

In the lower part of the Drive monitor program, the start and stop

buttons, speed setpoint field Setpoint [%] (when the electric drive is controlled from

the program) and actual speed field Act. Val [%] are situated.

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2.3 The parameterization sequence of Simoreg DC Master Converter

For example, let’s consider the parameterization of Simoreg DC Master

Converter. The rated motor data and the laboratory setup description were considered

in the first part of methodological course book for laboratory work [4].

After the convertor was powered, on the PMU display the current state of

thyristor convertor will be displayed (for example o7.0). The state of Simoreg

convertor is depicted in the r000 parameter (see table 2). The parameterization of

microprocessor control system of thyristor convertor is carried out in the following

sequence.

2.3.1 Access level setting to the converter parameters and factory reset

1. If the parameter setting is made in the first time or it is unknown the initial

convertor state, it is recommended to reset the all parameters to factory setting. The

setting of parameter P051 = 21 will leads to factory reset of converter parameters.

After this setting, the restoring of parameter values to default and performing the

initial converter offset adjustment will be executed. Then, parameter P051 is

automatically set in the initial value P051=40.

2. Set parameter P051 = 40 [Key parameters]. This value allow user to modify

all parameters of thyristor converter.

3. Set parameter P052 = 2 [Selection of display parameters]. This setting

allows to display all parameters on the simple operator panel (PMU).

2.3.2 Setting the rated converter voltage and current

1. Set parameter Р076.001 = 33,3 % [Reduction of converter rated DC current

(armature)] in the index 001. The value 33 % provides the decreasing of rated

converter DC current according to the motor rated current. This parameter is used for

the purpose of achieving a close match between the converter and motor, the

converter rated DC current is reduced to the value entered here.

2. Set parameter value Р076.002 = 20 % [Reduction of converter rated DC

current (field)] in the index 002. The rated current of field circuit is 20 % of rated

convertor field current [4].

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Note: For thyristor convertors, which have a rated power higher that motor

rated power, the following parameter values can be set in the P076: 10, 20, 33,3, 40,

50, 60, 66,6, 70, 80, 90 %.

3. Set the parameter Р078.001 = 400 V [Rated input voltage converter

armature]. This is a rated voltage of on the input thyristor converter in the armature

circuit.

4. Set the parameter Р078.002 = 400 V [Rated input voltage converter field].

This is a rated voltage of on the input thyristor converter in the field circuit.

The rated voltage values of the power system actually used to supply the power

section must be set in this parameters P078.001 (2).

2.3.3 Setting the motor rated data

1. Set parameter Р081 = 0 [EMF-dependent field weakening]. This setting is

used for control system without field-weakening mode. The rated field current is

continuously applied to the field circuit.

2. Set parameter Р100 = 4,5 А [Rated motor armature current]. The rated

armature current is set according to the motor rating plate.

3. Set parameter Р101 = 220 V [Rated motor armature voltage]. The rated

armature voltage is set according to the motor rating plate. The one of the functions

of this parameter is to determine the point at which the field-weakening mode is

started.

4. Set parameter Р102 = 0,29 А [Rated motor field current]. The rated

excitation current is set according to the motor rating plate.

5. Set parameter Р103 = 0,25 А [Minimum motor field current]. The parameter

value P103 should be less than 0,5∙Р102 to execute the optimization run for field

weakening mode. In this example it is not supposed that we will work in the field

weakening mode.

6. Set parameter Р109 = 0 [Control word for speed-dependent current

limitation]. 0 – Speed-dependent current limitation is deactivated. 1 – Speed-

dependent current limitation is activated. The setting P109=1 is used in the two-

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region speed control systems to reduce the maximal armature current in the field

weakening mode.

7. Set parameter Р114 = 10 minutes [Thermal time constant of motor]. This

parameter is used to protect motor from overload current in the steady-state mode.

The value Р114 = 0 means that the I2t protection is deactivated.

The motor parameters such as: P110 [Armature circuit resistance], P111

[Armature circuit inductance], P112 [Field circuit resistance], P115 [EMF at

maximum speed in operation without tachometer], P118 [Rated EMF value] and

P119 [Rated speed] are set automatically during the current controller optimization

procedure P051=25.

2.3.4 The setting of speed sensor parameters

1. Set parameter Р083 = 1 [Selection of actual speed value]. The value of this

parameter is selected according to the following:

0 – Actual speed value is not selected;

1 – Actual speed value comes from the analog tachogenerator, which is

connected to the terminals XT.103, XT.104);

2 – Operation without tachogenerator (Closed EMF loop is used);

3 – Actual speed value is wired up freely (selected in P609).

Signal from the analog tachogenerator is displayed in the parameter r002.

2. Set parameter Р741 = 30 V [Normalization for “Main actual value”]. This

value sets the rated voltage on the output of speed sensor under the rated motor

speed. Maximum value is 270 V.

3. Set parameters P671= 1 [Source for control word 1, bit11] and P672= 1

[Source for control word 1, bit12]. The values 1 are set for bidirectional electric

drive. 0 – positive (P671) or negative (P672) direction of rotation is disabled.

4. Set the sign of speed signal P743= 0 [Mode of signal injection at “Main

actual value” analog input]. The following values are used in parameter P743:

0 – Injection of signal with sign;

1 – Injection of absolute value of signal;

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2 – Injection of signal with sign, inverted;

3 – Injection of absolute value of signal, inverted.

The sitting P743=1 is used for non-bidirectional electric drives. The sign of

actual speed can be changed by means of setting Р743= 2.

2.3.5 The setting of armature current ramp-function generator

To limit the rate of armature current the ramp-function generator on the input

of current closed loop is set by means of following parameters (see fig. 9):

1. Set parameter P157= 1 [Control word for current setpoint integrator]. Value

1 means that the ramp-function generator (RFG) acts in the current setpoint cannel.

The 0 value means that the RFG is active only after the change of torque direction.

2. Set parameter P158= 0,01 sec. [Ramp-up time for current setpoint

integrator]. The recommended value for older DC motors, which is not suitable for

high current rates, is 0,04 sec.

These two parameters allow to reduce the gearbox stressing and to protect DC

motor from high armature current rates.

2.3.6 The limitation of armature current and electromagnetic torque

The simplified functional diagram of torque limitation is shown on the figure 6

[5]. As can be seen from figure 7 the level of torque limitation (K0143, K0144) can

be varied depending of different parameters. By means of P169 parameter the torque

or current limitation is selected. The normalization of current limits (P170, P171) by

means of P100 (Rated armature current) parameter is realized. From index

parameters P605 and P606 comes the constant value 200 and -200 %

correspondingly. Then, from current (P170, P171) and torque (P180, P181)

limitations the minimal for positive torque direction or maximal for negative torque

direction value is selected and comes to the nonlinear element with saturation

characteristic. The binectors B0202 and B0203 set a unity value, when torque

setpoint will reach positive or negative limits.

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Fig. 7. Torque limitation in the Simoreg DC Master converter

1. Set parameter P169 = 1 [Select closed-loop torque / current control]. In this

case the closed-loop current control with torque limitation is used. The torque

limitation is a function of motor magnetic flux. In the one-region speed control

system the torque limitation will corresponds to armature current limitation.

2. Set parameter P170 = 0 [Select closed-loop torque / current control]. The

combination of P169 and P170 parameters set the torque or current limitation. In this

case the motor torque limitation is used. The combination P169= 0 and P170= 0 set

the armature current limitation and combination P169= 0 and P170= 1 set closed-loop

torque control with torque limitation.

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3. Set parameter P171= 150 % [System current limit in torque direction I]. The

parameter value sets the armature current limitation in the positive torque direction.

This value is selected according to the rated motor and thyristor convertor data. The

150 % means that the maximal armature current will not exceed the value 1,5 P100

A. Where, P100 parameter is the rated motor current.

4. Set parameter P172= -150 % [System current limit in torque direction II].

The parameter value sets the armature current limitation in the negative torque

direction.

5. Set parameter P180= 150 % [Positive torque limit 1]. This parameter is used

to limit the motor torque value in the positive torque direction. The value is selected

according to the motor and thyristor convertor rated overload current. The 150 %

means that the maximal electromagnetic torque will not exceed the value 1,5 Mn.

Where, Mn is the rated motor torque.

6. Set parameter P181= -150 % [Negative torque limit 1]. This parameter is

used to limit the motor torque value in the negative torque direction.

One should add, that these parameters can be used to implement the

nonreversible electric drive. For example, if we sets the parameter value P171= 0 %

we don’t allow electric drive to rotate in the positive direction.

2.3.7 Parameterization of ramp-function generator

The simplified functional diagram of ramp-function generator (RFG) in the

Simoreg DC Master is shown on the figure 8.

The main parameters of first order ramp function generator are P303 – Ramp-

up time 1 and P304 – Ramp-down time 1. The second order RFG is realized by

setting the not zero values for parameters P305 – Lower transition rounding 1 and

P306 – Upper transition rounding 1. The parameter P330 is used to set time of RFG in

seconds (0) or in minutes (1). The parameters P307–P314 are used in some cases,

where is it necessary to switch the rete of RFG during the work of electric drive.

Index parameter P636 can be used to vary the rate of RFG depending on some

connecter value. The default values in all indexes of P636 parameters are 100 %.

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Fig. 8. Ramp function generator in the Simoreg DC Master converter

1. Set parameter P303= 10 sec [Ramp-up time 1]. The value 10 means, that

electric drive will accelerate from zero to rated motor speed at 10 seconds.

2. Set parameter P304= 10 sec [Ramp-down time 1]. The value 10 means, that

electric drive will decelerate from rated to zero motor speed at 10 seconds.

3. Set parameters P305= P306= 0 sec [Lower and Upper transition rounding 1].

The first order ramp-function generator is used.

The ramp-up and ramp-down time of RFG is selected from the maximum

acceptable value of dynamic torque during the transients.

2.3.8 Automatic parameterization of armature current closed loop

The simplified functional diagram of armature current controller in the

Simoreg DC Master is shown on the figure 9.

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Fig. 9. Armature current controller in the Simoreg DC Master converter

On the figure 9, the armature current precontrol is used to improve the

performance of current closed loop in the interrupted current mode of thyristor

converter. The gain kcc and time constant Tcc of armature current controller are set in

the parameters P155 and P156. The parameters P176 and P175 are used to vary the

gain and time constant of current controller depending on some external conditions.

Parameters P164 and P154 deactivate the Proportional (P) and Integral (I)

components of current controller.

The main parameters of armature current closed loop such as gain and time

constant of current controller are adjusted during the current loop optimization

procedure (P051=25).

In order to make the current controller optimization it is necessary:

1. To make sure the thyristor convertor is in the ready to run operating state

o7.0 or o7.1, and there are no any errors and alarms on the display on PMU.

2. Set parameter P051=25 [Key parameters – Optimization run for precontrol

and current controller (armature and field)]. After that, the converter switches to

operating state o7.4 for several seconds and then to o7.0 or o7.1 and waits for the

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input of switch-on and operating enable. The flashing of the decimal point in the

operational status display on the PMU indicates that an optimization run will be

performed after the switch-on command.

3. By means of switches SA6 and SA5 give commands for operation enable

and switch-on. As soon as the converter reaches operating status o1.0, the

optimization run is executed. The current controller optimization procedure will lasts

approximately 40 seconds. The following parameters are set automatically during the

optimization procedure: P110 [Armature circuit resistance], P111 [Armature circuit

inductance], P112 [Field circuit resistance], P155 [Armature current controller P

gain], P156 [Armature current controller reset time], P255 [Field current controller P

gain], P256 [Field current controller reset time], P826 [Correction of natural

commutation timing].

Attention! One must note, that if the switch-on command is not given within 30

s, this waiting status is terminated and fault message F052 displayed.

After the optimization procedure the parameter P051 will be returned in the

initial state P051=40 and the field current will be decreased to zero. Then, switch-off

the SA5 and SA6 tumblers to the initial position.

2.3.9 Automatic parameterization of speed closed loop

The simplified functional diagram of speed controller in the Simoreg DC

Master is shown on the figure 10.

The speed controller gain ksc and time constant Tsc are set in parameters P225

and P226. The time constants of speed setpoint and feedback filters are set in

parameters P228 and P200.

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Fig

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aste

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The nonlinear element with inputs P553 and P554 are used to adapt the speed

controller gain and time constant to changed external conditions. The speed feedback

signal can be selected from five different sources by means the P083 parameter. Also

in the speed closed loop there are parameters which are responsible to stop or set the

I-component of speed controller in some cases (P696, P695). The parameter P224 can

be used to switch-off the integral component of speed controller and build the single-

integration automatic speed control system (P224= 0). The parameter P236 sets the

performance of speed control closed loop.

The main parameters of speed closed loop such as gain and time constant of

speed controller are adjusted during the speed loop optimization procedure (P051= 26).

To run the speed controller optimization it is necessary:

1. Set parameter P051= 26 [Key parameters - Optimization run for speed

controller]. Then, by means of switches SA6 and SA5 give commands for operation

enable and switch-on as in the privies chapter. The optimization process will display

on the PMU by means of flashing the different numbers.

During the speed controller optimization, the motor is accelerated at a

maximum of 45 % of its rated armature current. The motor may reach speeds of up to

approximately 20 % of maximum speed. The following parameters are set

automatically during the optimization procedure: P225 [Speed controller P gain],

P226 [Speed controller reset time] and P228 [Filter time for speed setpoint].

After the optimization procedure the parameter P051 will be returned in the

initial state P051=40 and the field current will be decreased to zero.

2. Then, switch-off the SA5 and SA6 tumblers to the initial position.

Note: The speed controller optimization run takes into account the filter of the

actual speed controller value parameterized in P200. To achieve the optimum

response of speed closed loop the parameter P228 is equal to P226.

3. Check the value of motor maximum speed. If the maximum speed was

changed during the optimization procedure more than 10 %, it is necessary to correct

the speed sensor gain in the parameter P741 (for analog tachogenerator). Then, the

speed loop optimization procedure should be repeated.

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Note: The automatic parameterization of speed and current closed loop

provides the acceptable but often not optimal transients in the speed and current

control system. To adjust the optimal responses in the speed and current closed loops,

the manual correction the of speed and current controller parameters with using

oscilloscope is necessary.

4. Then, it is necessary to check the work of electric drive. Set the switches

SA6 and SA5 to upper position and set the speed setpoint 1000 rpm be means of

RP2 potentiometer. Then, to reverse the electric drive it is necessary to set the switch

SA7 to upper position. To stop direct current electric drive the SA5 switch is used.

The starting of electric drive and setting of speed setpoint value can be also

realized by means of Drive Monitor Software. In order to start drive from the

program, it is necessary to set the parameters P433= K2002 [Source for standard

setpoint] and P654= K2100 [Source for control word 1, bit0]. During the work from

software, the switches SA6 and SA5 must be continuously in the upper position.

3. The parameterization of thyristor converter for working in the

PROFIBUS-DP network

3.1. Brief information about the PROFIBUS-DP

PROFIBUS (PROcess FIeld BUS) is an open international standard of field

buses with wide range of application area in the automation of technological process.

Independence for different manufactures and openness of standard is guaranteed by

means of international EN 20170 and IEC 61158 norms.

The PROFIBUS-DP (Distributed Peripherals) is a one of communication

profiles of this standard. It is optimal solution for fast and low-cost data transmission

on the field level.

PROFIBUS-DP predominantly utilizes the master-slave method and data is

exchanged cyclically with the drives in most cases. PROFIBUS is a multi-master

system and allow to work simultaneously of few automation systems, human-

machine interface systems and decentralized execution units on the one bus.

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The shielded twisted pair is widely used on practice (fig. 11) and it is allow to

transmit data with rates from 9,6 Kbit/sec (12 km) to 12 Mbit/sec (100 m). The

transition rate depends from the distance between the two units on the bus.

Fig. 11. Standard PROFIBUS-DP cable:

1 – conductor А; 2 – conductor В; 3 – shield; 4 – insolation

The PROFIBUS cables have a many different implementations for specific

applications. For example, there are a PROFIBUS cables for different movable units,

for underground setup also there are optical cable for high data transmission rates etc.

For PROFIBUS the RS485 data transmission method is used, which is based

on the half-duplex, asynchronous synchronization.

As a rule, the 9- pin connector is used on practice to connect the different units

each other. This connector is shown on the figure 12.

Fig. 12. Connector Sub-D

On the Sub-D connector there is a Switch, which closes the unusable parts of

the bus on the resistance. On the both ends on the bus this Switch mast be set in On

position.

For fail-safe operation in the network and to eliminate the hardware conflicts,

it is necessary that each of all devices in the bus will have the bus access at the

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appointed time. Logic bus topology in the PROFIBUS can be built on master/slave

principles:

master – slave;

master – master (ring topology with marker);

combination of these two principles (hybrid method).

The “master – slave” communication is a centralized one. That is, the only one

master controls the access to the network and interrogates the slave devices on the

bus. In this variant, the slave units cannot to transfer the data without master request

and cannot by oneself to obtain admittance to the bus with some exceptions.

The “master – master” communication is a decentralized one. In this variant,

there are a few master units, which are connected to the bus by means of token ring.

And then, each master interrogates the specified slave units in the network.

Figure 13 shows the combination of these two methods for bus access. On the

figure 3 there are three master and five slave units. The master devices are serially

connected to the bus by means of token ring and receive the data from slave units.

Fig. 13. Hybrid method for bus access

All devices in on the PROFIBUS have its own addresses in the range from 0 to

127, which allow definitely to identify the devices. The addresses are set intentionally

and are independent from the physical location on the bus.

The Master units are divided in the two classes:

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Master (class 1) – it is devices in the bus, which are usually exchanged

data cyclically.

Master (class 2) – programmers, diagnostic devices, human-machine

interface (HMI) units, etc. As a rule, they use acyclic data exchange. In

some cases, they can use the cyclic data exchange.

Examples of Masters (class 1) are the logical controllers Simatic S7-300, S7-

400 with embedded PROFIBUS interface, or communication processors, for example

CP 342-5. The Masters (class 2) units are HMI panels, programs for network setting

(for example STEP 7) and convertor parameterization (for example STARTER, Drive

Monitor).

As slave units the following devices can be used:

logical controllers Simatic S7-200 and controllers S7-300 in the slave

mode;

communication processors, for example CP 342-5, CP 248-2;

decentralized periphery ET-200;

semodrive sensors;

numerical program control systems – Sinumeric;

frequency convertors Sinamics, Micromaster etc.;

the communication board CBP2 for Simoreg DC Master Converters.

3.2. The Simoreg DC Master convertor as a slave unit on the PROFIBUS

The Simoreg DC Master acts only as a slave unit in the PROFIBUS network.

To connect the Simoreg to the bus the external communication board CBP2 is used.

The CBP2 communication board is mounted in the body of thyristor convertor. The

optional board features three LEDs (green, yellow, red) for displaying the current

operational status in the bus. The board is supplied with power via the basic unit. The

optional CBP2 board features a 9-pin Sub D connector (see fig. 12) for connection to

the PROFIBUS-DP system.

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The bus system allows data to be exchanged very rapidly between the drives

and higher-level systems (for example Simatic). The drives are accessed in the bus

system according to the master/slave principle. The drives are always slaves. Each

slave is uniquely identified by a slave address, which can be set by means of

parameter.

Data are exchanged in message frames. Each message frame contains useful

data which are divided into two groups:

1. Parameters (parameter identifier value, PKW).

2. Process data (PZD).

The PKW area contains all transfer data which are needed to read or write

parameter values or read parameter properties.

The PZD area contains all the information needed to control a variable-speed

drive. Control information (control words) and setpoints are passed to the slaves by

the PROFIBUS-DP master. Information about the status of slaves (status words) as

well as actual values are transferred in the opposite direction.

The length of the PKW and PZD components in the message frame are

determined by the master. Only the bus address and, if necessary, the message frame

are set on the slaves.

The simplified structure of PKW and PZD areas is shown on the fig 14.

Fig. 14. Structure of data transmission telegram

Let’s consider the communication between the Simoreg DC Master Converter

and PLC. The communication between the thyristor converter and PLC is realized by

means of PROFIdrive profile in the electric drive. The drive profile selection is made

in the STEP 7 program during the hardware configuration.

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The PROFIdrive profile (PRO), which is used in the Simoreg converter is

shown on the figure 15.

Fig. 15. Telegram types in the Simoreg DC Master Converter

In the second version of PROFIdrive protocol there are a five telegram types

(PRO), which are depicted on the figure. 15.

As can be seen from the figure, the most simple is a PRO3 profile, which is

able to start, stop and reverse electric drive and regulate the motor speed by means of

“Control word 1” (STW1) and “Speed setpoint signal (Main setpoint)” (HSW).

Control word 1 and the Speed setpoint signals are the 16-bit signals, which are

receiver from master unit. In response to master request, the Simoreg DC Master

sends the Status word (ZSW1) and actual speed signal (HIM). This signal can be used

in the PLC to control the electric drive operation.

There are no the parameter changing mechanism in the PRO3 telegram. If there

is a need to change converter parameters via PROFIBUS, it is necessary to select

PRO1 or PRO2 profile. In the PRO2 profile also it is possible to send and receive

different variables from or to PLC. The variable choosing is made by means of some

parameters, which will describe below. For example, it is possible to send to the PLC

the faults codes, actual armature current or motor electromagnetic torque etc. Also it

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is possible to receive from PLC the “Control word 2” (STW2) and use this word for

controlling of electric drive.

The PRO5 telegram allow to fully free adjusting of sanded and received data

between the Simoreg converter and PL, but one should add that without “Control

word 1” and “Speed setpoint signals”.

3.3 Control and Status words and speed setpoint signal

The PRO3 profile in the Simoreg converter is the most simple for controlling the

electric drive via PROFIBUS-DP.

“Control word 1” is a 16-bit signal, where each bit has some specific function,

such as: start, stop or reverse of electric drive.

Let’s consider how we can to control of electric drive via “Control word 1”,

which is shown in the table 4.

Table 4

“Control word 1” for Simoreg DC Master Converter

Bit Value Function Description

1 2 3 4

0 1

0

ON.

OFF 1

Turn electric drive into the ready to run state.

Off 1 – stopping by means of ramp-function generator.

1

1

0

Operating

condition

OFF2

Off 2 – Instantaneous pulse disable, drive coasts to a

standstill.

2

1

0

Operating

condition

OFF3

Off 3 – Rapid stop: Shutdown with the fastest possible

acceleration rate.

3

1

0

Enable

operation

Disable

operation

Closed-loop control and pulses are enabled.

Closed-loop control and pulses are disabled.

4

1

0

Operating

condition

Disable RFG

Output of RFG is set to 0 (the fastest possible braking

operation), converter remains in the ON state.

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Table 4. Continuation

1 2 3 4

5 1

0

Enable RFG

Stop RFG

Ramp-function generator start.

Setpoint currently supplied by the RFG is “frozen”.

6 1

0

Enable setpoint

Disable setpoint

Value selected at the RFG input is activated.

Value selected at the RFG input is set to 0.

7

1

0

Fault

acknowledge

Fault is acknowledged by a positive edge, Simoreg then

switches to “starting lockout” state.

8 1

0

CW inching

Clockwise rotation of electric drive.

9 1

0

CCW inching

Counterclockwise rotation of electric drive.

10

1

0

Control by PLC

No control by

PLC

Master transfers valid setpoint.

There is no setpoint from master.

11

1

0

Enable positive

direction of

rotation

Positive

direction of

rotation disable

The positive direction of rotation is allowed.

The positive direction of rotation is not allowed.

12

1

0

Enable negative

direction of

rotation

Negative

direction of

rotation disable

The negative direction of rotation is allowed.

The negative direction of rotation is not allowed.

13 1

0

MOP UP

Motor potentiometer UP.

14 1

0

MOP DOWN

Motor potentiometer DOWN.

15 1

0

External fault

No external fault

Fault signal from PLC (F021).

No fault signal.

Let’s consider some examples of “Control word 1” for the most common

command, which is shown in the table 5.

To simplify the “Control word 1” recording format it is useful to use the

hexadecimal format (Hex).

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Table 5

Examples of “Control word 1”

Command

Control word in the binary

format (bit numbers)

12 8 4 0

Control word

in the hexadecimal format

Ready to run (Stop) 0001 1100 0111 1110 1C7E

Start forward 0001 1100 0111 1111 1C7F

Start backward (reverse) 0001 0100 0111 1111 147F

Fault reset 0001 1100 1111 1110 1CFE

Before the starting of electric drive, it is necessary to prepare the Simoreg

convertor to operation. For this you need to send the 1C7E (hex) value from the PLC

to the “Control word 1” area into converter. Then, the starting command 1C7F should

be sent in the “Control word 1” area. If the speed setpoint is not equal to zero, the

electric drive will starts rotation.

The “Speed setpoint signal (Main setpoint)” also consists of 16 bits as and

“Control word”. The 100 % of speed setpoint corresponds to the 4000 (hex) value by

default. This value is a 214

, that is the rated motor speed (100 %) uses the 14 bits of

the word. So, the maximum speed setpoint value is a 200 % taking into account that

the high bit of word is used for speed setpoint sign.

To convert of speed setpoint from percent to the hex value it is useful to use

the intermediate values in the decimal format. The some examples of speed setpoint

values in the percent, hex and decimal formats are shown in the table 6.

Table 6

Speed setpoint examples

Speed setpoint value, % Speed setpoint value, (dec) Speed setpoint value, (hex)

100 16384 4000

50 8192 2000

20 3276 CCC

10 1638 666

The using of “Control word 1” and “Speed setpoint” signal are enough to

control the DC electric drive via PROFIBUS.

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But for reliable operation of electric drive it is necessary to receive from

convertor the signals: “Ready to run”, “Faults”, “Alarms”, “Operation mode” etc.

This is done by means of “Status word”, which is shown in detail in the table 7.

Table 7

“Status word 1” of Simoreg DC Master Converter

Bit Value Function Description

1 2 3 4

0

1

0

Ready for

switch ON

Not ready for

switch ON

Power supply switched on, electronics initialized, pulses

disabled.

1

1

0

Ready to run

Not ready to run

Converter is switched on (ON command is applied), no

fault is active, inverter can start when “Enable

operation” command is issued.

Causes: No ON command, fault, OFF2 or OFF3

command, starting lockout.

2

1

0

Operation

enabled

Operation

disabled

Drive is ruining (See control word, bit 3).

Pulses disabled.

3

1

0

Fault is active

Fault, see fault parameter r0947. Drive is faulty and thus

inoperative. It switches to starting lockout state after

successful correction and acknowledgement of fault.

4

1

0

OFF2 command

applied

See control word, bit 1 (table 4).

5

1

0

OFF3 command

applied

See control word, bit 2 (table 4).

6

1

0

Switch on

inhibit

No switch on

inhibit

Drive can be restarted only by OFF1 followed by ON.

7 1

0

Alarm is active

Alarm, see alarm parameter r2110. Drive still in

operation.

8

1

0

No setpoint

/act.val.

deviation

Setpoint/act.val.

deviation

Setpoint/actual value deviation within tolerance range.

9

1

0

PZD control

-

PZD control requested (always 1)

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Table 7. Continuation

1 2 3 4

10

1

0

Max. speed

reached

Max. speed not

reached

Motor actual speed is higher or equal to the maximum

speed P373

11 1

0

Undervoltage

No undervoltage

Undervoltage fault (F006) is active.

No undervoltage fault is active

12

1

0

Main contactor

request

No contactor

request

Request to energize main contactor.

No request to energize main contactor.

13 1

0

RFG active

RFG not active

Ramp-function generator is active.

Ramp-function generator is not active.

14

1

0

Positive speed

setpoint

Negative speed

setpoint

Clockwise rotation of electric drive.

Counterclockwise rotation of electric drive.

15 1

0

Spare Not used

The “Actual speed” signal uses the same format as a “Speed setpoint” and also

can be sanded to the PLC via the PROFIBUS.

Some examples of “Status word 1” in the Simoreg DC Master converter are

shown in the table 8.

Table 8

“Status word 1” examples

State

Status word in the decimal

format (bit numbers)

12 8 4 0

Status word in the

hexadecimal format (hex)

Ready to run (Stop) 0100 0010 0011 0001 4231

Run forward 0110 0011 0011 0100 6334

Run backward 0010 0011 0011 0100 2334

Fault signal 0100 0010 0011 1000 4238

One should add, that to control the frequency convertors such as Micromaster

and Sinamics via PROFIBUS-DP same principles are used.

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3.4. The using of PKW mechanism for processing parameters

The PKW mechanism is used to read and write parameters of Simoreg

converter via the PROFIBUS network. This mechanism can use both acyclic and

cyclic data transfer. To access the reading or writing of converter parameters it is

necessary to select the profile PRO1 or PRO2 (see figure 15) during the hardware

configuration in the STEP 7 program [2].

The parameter area for PKW mechanism always consists of 4 words. Structure

of this area is shown on the figure 16.

Fig. 16. Parameter area of PKW mechanism

Let’s consider the all three part of parameters area separately. First word

consists of 16 bits and is used for parameter identifier (PKE). The parameter

identifier (PKE) contains the number of the relevant parameter and an identifier

which determines the action to be taken. Structure of parameter identifier is depicted

on the figure 17.

Рис. 17. The word structure of parameter identifier area

The parameter identifier (PKE) consists of following areas:

Bits from 0 to 10 are used for parameter number (PNU – parameter

number). The maximum parameter number is 2048 (211

), therefore to access

to parameter numbers more than 2000 the additional offset displacement in

the index area (IND) is set;

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Bit 11 (SPM) is reserved and its value always equal to zero;

Bits 12 to 15 (AK) contain the request or the response identifier.

The meaning of the request identifier for request telegrams (master →

converter) is shown in table 9.

Table 9

Request identifier (master → converter)

Request

identifier Functions

Response

identifier

positive negative

0

1

2

3

4

6

7

8

9

No request

Request parameter value

Modify parameter value (word)

Modify parameter value (double word)

Request descriptive element 1

Request parameter value (array)

Modify parameter value (array, word)

Modify parameter value (array, double word)

Request number of array elements

0

1 or 2

1

2

3

4 or 5

5

5

6

7 or 8

7 or 8

7 or 8

7 or 8

7 or 8

7 or 8

7 or 8

7 or 8

7 or 8

For example, to change parameter P303 [Ramp-up time] we should set the

parameter number (100101111 – 303) in the PNU area and send request (10 – 2) to

the AK area. If the parameter changing passed without any errors that the in response

we will have the number – 2 response identifier. If there is some error during the

parameter changing, in response we will have the numbers – 7 or 8 response

identifiers. The meaning of response identifiers is shown in the table 10.

Table 10

Response identifier (inverter → master)

Response

identifier Functions

0

1

2

3

4

5

6

No response

Transfer parameter value (word)

Transfer parameter value (double word)

Transfer descriptive element 1

Transfer parameter value (array word) 2

Transfer parameter value (array double word) 2

Transfer number of array elements

Positive responses

7

8

Cannot process request (with error number)

No master control status for PKW interface Negative responses

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If the response identifier is 7 (cannot process request), then one of the fault

numbers will be stored in parameter value 2 (PWE2) [2].

The second word in the parameter area (PKW) is a parameter index. The

structure of this word depends of data transferring types (cyclic or acyclic). On the

figure 18 the structure of parameter index for these two data transfer types is shown.

a) Cyclic data transferb) Acyclic data transfer

Fig. 18. Structure of parameter index (IND)

As can be seen from the figure 18, that main different is that the subindex and

parameter page selection is interchanged. Let’s consider the cyclic data transfer

between the PLC and Simoreg converter.

The convertor has index parameters. The index can be switched by means of

bits 16 and 17 of “Control word 2” [5]. The master can request to the different

parameter index (subindex) by means of PROFIBUS network. Parameter subindex

occupies a high 8 bits of IND and can take values from 0 to 255 (28).

The page parameter selection is used for the accessing to the parameters, which

number are higher than 2000. In the Simoreg DC Master there are no parameters

numbers higher than 2000, so the page parameter selection mechanism is not

considered here.

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The parameter value is set in the PWE area, which consists of two words. The

32-bit value is transferred through the high word PWE1 and the lower word PWE2.

As to the 16-bit values, they are transferred by means of PWE2 word, the PWE1

word is not used in this case. The parameter values area is shown on the figure 19.

Fig. 19. Parameter values area

During the work with convertor parameters via PROFIBUS it is necessary to

observe the following conditions:

A request or a response can only ever refer to one parameter.

The master must repeat a request continuously until it has received the

appropriate response.

The complete request must be sent in one telegram. Request telegrams

cannot be split. The same rule applies to responses.

In the case of response telegrams which contain parameter values, the

drive always returns the momentary parameter value when repeating

response telegrams.

If no information needs to be fetched from the PKW interface in cyclical

operation (only PZD data are relevant), then the "No request" request

telegram must be issued.

Let consider some examples of parameter requesting, which are shown in the

table 11.

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Table 11

The examples of using PKW mechanism

Description PKW (hex format)

Comments PKE IND PWE

Reading

Р0303

Request 112F 0000 0000 0000 Р0303 – rump-up time (10 sec –

4120 16-bit IEEE float point). Response 112F 0000 0000 4120

Reading

Р0304

Request 1130 0000 0000 0000 Р0304 – rump-down time (10 sec –

4120 16-bit IEEE float point). Response 1130 0000 0000 4120

Writing

Р0303

Request 212F 0000 0000 4000 Р0303 – rump-up time (2 sec – 4000

16-bit IEEE float point). Response 212F 0000 0000 4000

Evaluating an

error response

Request 212F 0000 0000 4000 Fault – drive is in operation mode.

Parameter changing is not allowed. Response 712F 0000 0000 0011

One should add, that the program in STEP7 for parameter changing is not

describer here. For more detail information see [2].

3.5. The parameterization of Simoreg convertor for working from

PROFIBUS-DP

Let’s consider the most important communication parameters of Simoreg DC

master converter:

1. Parameter U712 [PRO type] defines of the number of words in the

parameter and process data section of the telegram (required only if the PPO type

cannot be set via PROFIBUSDP master). So it is not necessary to set this value.

2. Parameter U722 [Telegram failure time for process data (0 = deactivated)].

If this monitoring function is activated, the DP master passes a time value (watchdog

time) to the slave when the link is set up. If no data are exchanged within this period,

the slave terminates the process data exchange with the SIMOREG converter. The

latter can monitor the process data as a function of U722 and activate fault message

F082.

3. P918 [Bus address]. It is necessary to set this value from 0 to 127 according

to the STEP7 hardware configuration.

4. P927 [Parameterization enable]. Parameter should be set if parameters are to

be assigned via PROFIBUS with using PKW mechanism.

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The data exchange between the Simoreg DC Master and communication board

CBP2 is shown on the figure 20.

As can be seen from the figure, the “control word 1” and “speed setpoint”

receive from the board to the connectors K3001 and K3002. The connector K3001

(Control word 1) can be divided into the individual bits, which are used to send

commands – start, stop, fault acknowledge and reverse to electric drive.

By means of parameter U734 the variables, which should be sent from the

electric drive to PLC is selected. By default the “Status word 1” and “Actual speed”

is sent.

Fig. 20. Data exchange between Simoreg and technological board CBP2

So, to control electric drive from PROFIBUS it is necessary to set the

following parameters:

5. Set parameter P433=K3002 [Source for standard setpoint]. This parameter

applies the “Speed setpoint” signal to the thyristor converter.

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6. Set parameter P648=K3001 [Source for control word 1]. This setting allow

to setup commands (start, stop, fault acknowledge and reverse etc.) from the

PROFIBUS network (see tables 4, 5).

One should add, during the work from PROFIBUS-DP, the switches SA6 and

SA5 must be continuously in the upper position.

3. THE PLOTTING OF TRANSIENTS OSCILLOGRAMS WITH USING THE

DRIVE MONITOR SOFTWARE

For Simoreg DC Master Convertor in the Drive Monitor Software there is a

function of transients building. To turn program in the transient building mode, it is

necessary to press the button or - Trace in the program window. After that,

the Drive Monitor windows will looks like in the figure 21.

Fig. 21. Drive Monitor window in the transients building mode

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The buttons assignment of the Drive Monitor in the transients building mode

(see fig .21):

– Y – axis: gain up – increases the scale of the 0Y axis for selected

variable.

– Y – axis: gain down – decreases the scale of the 0Y axis for selected

variable.

– Y – axis: automatic scaling – sets the automatic scale of the 0Y axis for

selected variable.

– Min- And Max- marker On/Off – shows the markers for maximum and

minimum values for selected variable.

– General Settings… – shows the setting window of main setting for

external view of transients building.

– Open trace file – opens the file with saved transients.

– Save trace file – saves the transients oscillogram in the files with the

following extensions: *.trс, *.txt, *.wmt.

– Show Record info – shows the information about the oscillogram

recording settings.

– Copy traces to clipboard – copies the oscillogram to the clipboard in

the graphic format with white background. The information about markers is not

saved.

– Show ASCII list of waveform data – shows the oscillogram points in

the text format.

– Print all visable traces – prints the visable transients graphics.

– Help; about trace – shows information about the transients recording in

the Drive Monitor program.

– In the field dt the time

difference between the two cursors is displaed, in the fied dv the amplitude difference

beetwin the two cursors for selected variable is displaed. And the field @ show the

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current time position for selected cursor with respect to trigger time and amplitude of

slected varible.

– Immidiate starts of transients recording.

– Starts transients recording acording to the trigger settings.

– Read recorded data fron convertot to PC.

– Shows the windows with main settings of transients

recording (see fig. 22).

Fig. 22. The windows of transients recording settings

In the lift part of setting windows (fig. 22) the displayed variables is selected.

The most important connectors for different variables are shown in the table 12.

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Table 12

The connector for displaying different variables

Connector number Connector description

К0117 Motor armature current

К0142 Motor electromagnetic torque

К0167 Speed actual value

К0170 Speed setpoint value

К0287 Motor EMF value

К0290 Motor magnetic flux

One should add, that the all connector from functional diagram mentioned

below (fig. 7-10) can be displayed on the trace by selecting the appropriate

connectors in the trace setting window.

In the right part of setting window in the fields of recording settings the

recording interval and pretrigger values are set.

Recording interval sets the time for transients recording. Default value is

1 66,7/50=1,33 sec. After that time will be exceed, the transient recording will be

stopped.

Pretrigger sets the value on the 0X axis when the trigger condition is

executed. To put in other words, it is a time in percent of Recording interval, which

is recorded before the trigger conditions occurred.

The using of trigger allows users to start recording of transients according with

different external condition. In the channel field the some variable is selected. This

value is compared to the value in the field Trigger value. And if value of this

variable will exceed (Trigger conditions - >) the trigger value the run of transients

recording will be started. The trigger mode of transients recording is switched-on by

means of Start button.

The Go button is used for immediate starts of transients recording and trigger

setting in this case is not work. To stop the transients recording, it is necessary to

press the Stop button.

The using of Start button is more preferable on practice because off in this case

the transients recording are realized automatically by means of some external

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conditions. The binectors values can be also displayed on the trace window by means

of BiCo conversion button. It is also possible to start transients recording when the

fault of thyristor convertor is occurred. The selected variable and recording settings

can be saved in special file be means of save file button. To load this file the load file

button is used.

Attention! During the transients recording it is necessary to watch that the

scales of all variables in the trace window are the same. In this case there are no

problems with different scales for different variables.

In conclusion, one should add, that the Trace function in the Drive Monitor

Software is a powerful instrument for recording the different transients in the DC

electric drives.

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GLOSSARY

1. Automatic Control System (Автоматическая система управления) – is

the system that can control a plant (such as a direct current motor or some

technological process) by using the different controllers without human.

Automation control systems allow to reduce the need for human work in the

technological complexes.

2. Block Diagram (Functional diagram) (Функциональная схема) – is a

schematic representation of control system, on which the transition or transfer

functions are represented by blocks connected by lines, which show the

relationships of the different blocks.

3. Closed Loop Control System (Замкнутая система автоматического

управления) – a closed system with feedback or feedforward.

4. Closed Loop Transfer Function (Передаточная функция замкнутого

контура) – is a mathematical expression of transfer function describing the

closed loop control system.

5. Current Controller (Регулятор тока) – is a device or program algorithm to

control the motor armature current in closed loop control system with current

negative feedback.

6. Digital Control System (Цифровая система управления) – is a control

system implemented on special microcontroller which acts as system

controllers. Digital controller is a discrete unit thus the Laplace transform is

replaced with the Z-transform. Digital microcontroller also needs some

additional device such as analog-to-digital and digital-to-analog convertors.

7. Direct Current Motor (Двигатель постоянного тока) – is an electrical

machine designed to be run from a direct current power source.

8. Disturbance action (Возмущающее воздействие) – is a temporary change

in average environmental conditions that causes a pronounced change in the

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control system output. Outside disturbance for control system often is a load

torque on the electric motor shaft.

9. Electric Drive (Электропривод) – is electro mechanical system that converts

electrical to mechanical energy.

10. Electromagnetic Torque (Электромагнитный момент) – also called

electromagnetic moment or moment of force, is the tendency of a force to

rotate an electric motor rotor about a shaft axis.

11. Feedback (Обратная связь) – the output signal of the plant sensor (speed,

current, position) is closed into control system as an input usually with

negative sign.

12. Filter (Фильтр) – hardware or software device in control system intends to

reject different perturbation like noise and oscillations.

13. Frequency Response (Частотная характеристика) – the control system or

plant response to sinusoidal signals of different frequencies. Frequency

response is the measure of any system's output spectrum in response to an

input signal.

14. Integrator (I-controller) (Интегратор, И-регулятор) – hardware or

software device in control system that has the effect of integrating the input

signal.

15. Magnetic Flux (Магнитный поток) – is a measure of the amount of

magnetic field passing through a given surface.

16. Modular Optimum (Модульный оптимум) – optimal method for controller

adjustment which provides a non-oscillatory closed-loop response with small

overshoot for different closed loops.

17. MATLAB – commercial software having a Simulink toolbox which used for

simulation study of plant and control systems.

18. Microprocessor control system (Микропроцессорная система

управления) – The automatic control system which is implemented on the

microprocessor.

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19. Negative Feedback (Отрицательная обратная связь) – a feedback system

where the plant output signal is subtracted from the input signal and the

difference is input to the control system.

20. Open Loop Control System (Разомкнутая система управления) – when

the system is not closed, its behavior has a control error under different

disturbance in spite of using controllers.

21. Optimal Control (Оптимальное управление) – a branch of control

engineering that deals with the minimization of different criterions, or

maximization of system performance.

22. Order (Порядок) – the order of a polynomial is the highest exponent degree

of the variable in the characteristic equation. The order of a control system is

the order of the denominator polynomial of transfer function.

23. Oscillations (Колебания) – is the variation of different physical variables,

typically in time, about a mean value. Oscillations often occur in control

systems during sensors scanning (for example: current or speed sensors).

24. Overshoot (Перерегулирование) – is when an output signal of loop or

control system exceeds its steady-state value of several per cent. It appears

especially in the step response of bandlimited control systems.

25. Proportional-integral-derivative Controller (PID controller) (ПИД-

регулятор) – is a fundamental control loop feedback controller widely used in

industrial control systems. The PID controller is the most commonly used

algorithm in electric drive control system. A PID controller calculates an error

as the difference between a measured process variable and a desired setpoint.

The controller tends to minimize the error by adjusting the controller output

variable. The P- and PI-controller are the special cases of PID-controller.

26. PROFIBUS (PROcess FIeld BUS) is an open international standard of field

buses with wide range of application area in the automation of technological

process.

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27. Positive Feedback (Положительная обратная связь) – a feedback system

where the plant output signal is added to the system input, and the sum is input

into the control system.

28. Ramp-function generator (Задатчик интенсивности) – is the nonlinear

device that is mounted in the setpoint cannel of controlled variables and its aim

is to limit the rate of setpoint signal in input of automatic control system.

29. Symmetric Optimum (Симметричный оптимум) – optimal method for

controller adjustment, which provides a symmetric logarithmical frequency

response with respect to cutoff frequency. Closed loop control response in such

systems has overshoot value about 50 percent.

30. Speed Controller (Регулятор скорости) – is a device or program algorithm

to control the motor angular speed in closed loop control system with speed

negative feedback.

31. Stability (Устойчивость) – is a feature of control system to return to initial

condition after applying of different disturbances.

32. Step Response (Реакция на ступенчатое воздействие) – describes the

reaction of a system as a function of time in response to unit-step input signal.

33. Steady State Error (Установившаяся ошибка) – at steady state, the

amount by which the system output value differs from the reference value

(examples: speed error, armature current error).

34. Subsequent coordinate control (Подчиненное регулирование

координат) – is fundamental prince of automatic control theory and is widely

used in automatic control system of electric drives. According to this principle

the control systems are engineered in view of multiloop control systems in

which each inner loop is subordinated to output loop.

35. Thyristor Power Converter (Силовой тиристорный преобразователь) –

is used in direct current electric drives to create a DC variable voltage from AC

power supply.

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36. Transfer Function (Передаточная функция) – the ratio of the system

output to its input, in the P-domain. The Laplace Transform of the function's

impulse response.

37. Transient (Переходный процесс) – is the response of a system to a change

from equilibrium.

38. Unity Feedback (Единичная обратная связь) – a feedback system where

the feedback loop element has a transfer function equal to 1.

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REFERENCES

1. Шрейнер Р. Т. Системы подчиненного регулирования

электроприводов [Текст]: учеб. пособие / Р. Т. Шрейнер. Екатеринбург: Изд-во

ГОУ ВПО «Рос. гос. проф.-пед. ун-т», 2008. 279 с.

2. Системы управления электроприводами переменного тока.

Управление электроприводами по сети PROFIBUS [Текст]: учебно-

методическое пособие / Ю. В. Плотников, В. Н. Поляков. Екатеринбург: УрФУ,

2011. 106 с.

3. Терехов В. М. Системы управления электроприводов [Текст]:

учебник для студ. высш. учеб. заведений/ В.М. Терехов, О.И. Осипов; под ред.

В.М. Терехова. - 2-е изд., стер. - М.: Издательский центр Академия, 2006. 304 с.

4. ELECTRIC DRIVE CONTROL SYSTEM (SIMOREG DC

MASTER) [Text]: Methodological course book for laboratory work of «Electric

Drive Control System» discipline. / author Y.V. Plotnikov. Ekaterinburg: Ural

Federal University, 2011. 19 p.

5. SIMOREG DC-MASTER. Operating Instructions for Microprocessor-

Based Converters from 6kW to 2500kW for Variable-Speed DC Drives [Text].

Siemens. 2007. 736 p.

6. SIMOREG DC Master 6RA70. Series Tips on Configuration,

Hardware, Software, and Closed-Loop Control [Text]. Converters with

microprocessor from 6kW to 1900kW for variable-speed DC drives. Siemens. 2002.

20 p.

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Electronic textbook

Plotnikov Yuriy Valerievich

ELECTRIC DRIVE CONTROL SYSTEMS

(Parameterization of Thyristor Converters – SIMOREG DC

MASTER)

Preparing for publication N.V. Lutova

Computer make-up Y. V. Plotnikov

Recommended by Methodic union

Allow to publication

Date of publication – 05.04.2013

Electronic format – pdf

Size 2,95 p.

620002, Yekaterinburg, Mira street, 19

Data portal YrFU

http://www.ustu.ru