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09.01.2006
DC-AC, 4WD, Long wheel base
RTG-Training, J.Tikka
SIEMENS AC-Drives
Kalmar RTG-Crane movements are done
by AC - motors.
AC - Drives are controlling motor speed
by changing supply frequency.
More frequency = more speed.
Drives are microprocessor controlled
and PLC gives instructions for speed
reference according to operators input.
Speed feedback is fed to drive from
pulse-encoder attached to end of motors.
(Closed-loop control)
Motors are connected by shielded supply
cables to minimize any EMC noise.
Drives used are DC-AC type
(Common DC supply via Converter unit)
SIEMENS DC - AC Drives
Main parts of Frequency Inverter:
Frequency Converter has Three (3) Main
parts.
RECTIFIER:
Rectifies Incoming AC-Power to
External
Rectifier
DC-Link
Inverter
Control Unit
(Capacitor Bank)
INVERTER:
CONTROL UNIT:
Frequency is adjustable.
+ -
+ -
+ - + Braking Units
2 x 170kW
Trolley
Hoist
(Common Rectifier)
AC
Power
Source
AC to DC Converter unit
Braking
Resistors.
3~
AC-Motor
3~
AC-Motor
Hoist
Trolley
+ -
(Common Rectifier)
AC
Power
Source
AC to DC Converter unit
+ - + Braking Units
2 x 170kW
Braking
Resistors.
3~
AC-Motor
3~
AC-Motor
3~
AC-Motor
3~
AC-Motor
Gantry DS, 75 kW
Gantry DOS, 75 kW
Acceleration:
Power Flows from supply
through AC-drive to Motor.
+ -+ -
Braking Units
Gantry DOS
+
Gantry DS
(Common Rectifier)
AC
Power
Source
AC to DC Converter unit
2 x 170kW
Braking
Resistors.
3~
AC-Motor
3~
AC-Motor
3~
AC-Motor
3~
AC-Motor
+ -+ -
3~
AC-Motor
3~
AC-Motor
3~
AC-Motor
Deceleration:
Gantry DOS
+
Gantry DS
(Common Rectifier)
AC
Power
Source
AC to DC Converter unit
Braking Units
2 x 170kW
Braking
Resistors.
When DC-Link Voltage is
over 757 VDC, Braking Unit
Transistors open and Power
flows to Braking Resistors.
3~
AC-Motor
Magnetic Field
When AC voltage is applied to the stator,
current flows through the windings.
The magnetic field developed in a
phase winding depends on the direction of
current flow through that winding.
The following chart is used here for
explanation only.
It assumes that a positive current flow in the
A1, B1 and C1 windings result in a north pole.
Magnetic Field
It is easier to visualize a magnetic field if a
time is picked when no current is flowing
through one phase.
In the illustration, for example, a time has
been selected during which phase A has no
current flow, phase B has current flow in a
negative direction and phase C has current
flow in a positive direction.
Based on the earlier chart, B1 and C2 are
south poles and B2 and C1 are north poles.
Magnetic lines of flux leave the B2 north
pole and enter the nearest south pole, C2.
Magnetic lines of flux also leave the C1
north pole and enter the nearest south pole,
B1.
A magnetic field results indicated by the
arrow.
Synchronous speed:
The speed of the rotating magnetic field is referred
to as synchronous speed (NS ). Synchronous
speed is equal to 120 times the frequency (F),
divided by the number of poles (P).
If the applied frequency of the two-pole stator
used in the previous example is 60 hertz,
synchronous speed is 3600 RPM.
W2
ZK
= Capacitor bank
WR
U2, V2 and W2
PSU
IVI
ABO
= Adapter Board
IGD
= Temperature Sensing
CUVC
PMU
= ParaMeterization Unit
OP1S
= Operation Panel
CBP2
= Communication Board
Profibus
V2
U2
IVI
ABO
ZK
OP1S
CBP2
PMU
LAPTOP
1L+
1L-
13
X 18
X9
X9
= External 24 V DC supply
X 18
X 70
X 250
1
1
F1
F2
X 258
X 258
F1, F2
1
1
16
X 250
X 70
- Powered by:
- external 24 V DC supply
- Supply from incoming AC power
- Supply from DC link
U
21
U
31
U
12
U
13
U
22
U
23
U
32
U
33
13
14
26
X 205
INVERTER VALUE
INTERFACE
30
X 201
6
X 31
1 2
X 33
7 1
X 41
8
X 43
15
X 208
X 33
X 41
X 43
= Multiparallel Connection
(No Connection)
X 201
= ABO Connector
X 204
X 205
X 206
X 208
X 206
3
X 204
**********************************************************************************
X 31
U 11,12
U 21,22
U 31,32
DC-Link supply
1L+
1L-
IGD-Card
Controls
IGBT- Transistor
Firing
(PWM Modulation)
E
G
A(e)
K(c)
DC - LINK IN
(From Common Rectifier)
U/V
100 %
100 %
TL= T/n
IR
f / Hz
f / Hz
60 Hz
60 Hz
Voltage, Power and Torque of a squirrel Cage motor as a function of the frequency
DriveMonitor Program
Reset
I
OP1S/Laptop connection