Review of How Motor Works

Motor converts Electrical Energy to Rotating Mechanical

Energy
Coils placement in motor creates rotating, magnetic field in
stator
Rotating magnetic field cuts rotor bar and induces current in
rotor
Rotor current creates magnetic field on rotor
Attraction of rotor to stator creates torque and, hence,
horsepower

AC Motor Review
In an AC Motor, speed varies by:
Motor Speed (rpm) = 120 x Frequency - Slip
# of Poles

Since you can not change the number of poles in an AC motor,

the frequency is changed to vary the speed.

Varying the Speed

of an AC Motor
1800
(rpm)

1800 = 60 x 120
(rpm)
4

900
(rpm)

900 = 30 x 120
(rpm)
4

30 Hz

60 Hz

AC Motor Review
In an AC motor, Torque Varies by:
T = K x (

E 2
) x I Line
F

Where:
K is a constant
E is applied voltage
F is input frequency
I Line is motor current

AC Motor Review
Torque/Current Relationship
What you really need to know...

Current is roughly proportional to load torque

The higher the load torque the higher the current

AC Motor Review
Horsepower of an AC motor can be determined by:

HP = Torque x Speed
5252
Where:
Torque is in lb-ft
Speed is in RPM
5252 is a constant

Motor nameplate Horsepower is achieved at Base RPM:

HP = Torque * Speed / 5252

er

Constant Horsepower
Range

po
w

Note that motor nameplate

horsepower is only
achieved at and above
base speed, NOT BEFORE.

H
or
se

Torque
100%

Constant Torque
Range

Base Speed

RPM

Operation Above Base Speed

HP

AC Motor Review
IMPEDANCE
IMPEDANCE: Resistance of AC Current flowing
through the windings of an AC Motor

NOTE: Impedance decreases

as frequency decreases

Volts/Hertz Relationship

I = Current
V = Voltage
Z = Impedance

I=V
Z

To reduce motor speed effectively:

Maintain constant relationship between
current & torque
A constant relationship between voltage and
frequency must be maintained

Volt/Hertz Relationship
460 V

The AC variable speed drive

controls voltage & frequency
simultaneously to maintain
constant volts-per-hertz relationship
keeping current flow constant.

230 V

30 Hz

60 Hz

AC Drive
Rectifier

DC Bus

Inverter

AC Power Supply

Rectifier

Inverter

- Converts AC line voltage to Pulsating DC voltage

- Changes fixed DC to adjustable AC

- Alters the Frequency of PWM waveform

Intermediate Circuit (DC BUS)

- Filters the pulsating DC to fixed DC voltage

Sine Weighted PWM

Bus Voltage
Level

Sine Weighted PWM

PWM WAVEFORM
VLL @ Drive
500 Volts / Div.

+ DC Bus
1
- DC Bus
3
Phase Current
10 Amps / Div.
M2.00s Ch1

1.18V

PWM waveform is a series

of repetitive voltage pulses

Drive and Motor Compatibility

VLL @ Drive
500 Volts / Div.

Potential
ly
Damagin
g Voltage
Peaks

Voltage Wave
@Drive Output

VLL @ Motor
500 Volts / Div.

Voltage
Wave @
Motor
Conduit Box

How to Specify -- NEMA Standards

MG1-1993, Part 31.40.4.2
Maximum of 1600 Volt Peaks
Vpeak

Voltage

Steady-state voltage

100%
90%

dV
V

dt
t

10%
t
Rise time

Minimum Rise Time of .1

Microseconds

Time

GV3000/SE
V/Hz Operation
Output
Voltage

460
Ratio @ 460VAC
= 7.67 V/Hz

230
115

15

30

60
Base Frequency

90 Output
Frequency

At Base RPM or 60Hz, the Motor sees line input voltage

Hz

GV3000/SE
V/Hz Operation
Output
Voltage

460
Ratio @ 460VAC
= 7.67 V/Hz

230
115

15

30

60
Base Frequency

90 Output
Frequency

Hz

At 25% of Base RPM or 15 Hz, Voltage & Frequency is 25%

VECTOR DRIVE
Magnetizing
Current
(8.5 Amps)

25.0
Amps
Full
Load

Torque - Producing
Current (23.5 Amps)

Vector calculates Torque-Producing Current by

knowing actual amps and magnetizing current.

GV3000/SE

Vector Control - Torque can be produced, as well as regulated even at 0 RPM

Motor
MotorCurrent
Currentisisthe
theVECTOR
VECTORSUM
SUMof
ofMagnetizing
Magnetizing
&
&Torque
TorqueCurrent,
Current,

100%

this
thisisiswhere
wherethe
theterm
termVECTOR
VECTORDRIVE
DRIVEisisderived
derived

Torque
Current

Motor
Current
90
Magnetizing Current

Torque
Current
10%

Motor
Current
90
Magnetizing Current

Motor Current is the Vector Sum of Torque & Magnetizing

GV3000/SE
Flux Vector Drive - simple diagram review
A Vector Drive always regulates current
LEM
Current
Sensors
L1
L2
L3

Motor

E
Micro P

Encoder feedback provides rotor speed & position information for calculations

GV3000/SE
Sensorless Vector Control - simple diagram review
SVC estimates rotor speed & position to the stator field
LEM
Current
Sensors
L1
L2
L3

Motor

Micro P
( FVC + Speed Estimator )

A Speed Estimator calculates rotor speed & position to maintain 90 to the field

Sensorless Vector

Flux Vector

150% Overload
Operation to 0 RPM

150% Overload
Operation @ 0 RPM

120:1 Speed Range

Speed Regulation
40:1, 0.5% Steady State
20:1, 1.0% Dynamic
Dynamic Response
100+ radian Speed Loop
1000 radian Torque Loop
Tunable Speed PI gains

1000:1 Speed Range

Speed Regulation
100:1, 0.01% Steady State
100:1, 0.5% Dynamic
Dynamic Response
100+ radian Speed Loop
1000 radian Torque Loop
Tunable Speed & Torque PI gains

INVERTER DUTY MOTORS

NEMA Design B Motor w/ 3% Slip - Across the Line Start
BDT

200%
LRT
PUT
100%

Operating
Region
on AC
Drives

FLT

Slip
Base RPM

AC Drives regulate Motor Speed based on designed slip

INVERTER DUTY MOTORS

Blowers
Blowers may
may be
be added
addedto
to
motors
motorsto
to allow
allow operation
operationat
at low
low
speed
speedincluding
including0
0 RPM
RPM with
with
100%
100%Torque
Torque continuous
continuous

Some motor
motor frames
frames are
are sized
sized so
so that
that
Some
just the
the surface
surface area
area is
is suitable
suitable to
to
just
dissipate motor
motor heat
heat w/o
w/o the
the need
need of
of aa
dissipate
fan or
or blower
blower
fan

GV3000/SE with
Inverter & Vector Duty AC Motors
VXS Motors

Based on Reliance XEX Motor Designs

TENV, TEFC-XT and TEBC Enclosures

Ideal for;
Positive Displacement Pumps and Blowers
Extruders and Mixers
Steel and Converting Process lines
Standard Features;
Encoder Mounting Provisions

Motor Shaft Tapped for Stub @ ODE

Accessory Face @ ODE
Motor Winding Thermostats, 1/Phase
10:1 to 1000:1 CT speed ranges w/o derating

GV3000/SE with
Inverter & Vector Duty AC Motors
RPM-AC Motors

Laminated Steel, DC-style construction

DPFV, TENV, & TEBC enclosures

Ideal for;
Extruder applications
Web processing & mill applications
Retrofitting existing DC Drive & Motor systems

Standard Features;

High torque to inertia ratios

Encoder Mounting Provisions
Motor Winding Thermostats, 1/Phase
Infinite CT speed range, 0 RPM continuous
CHp Range of 2:1 on TENV & TEBC Frames
Base Speeds from 650 RPM to 3600 RPM

Speed Range

Speed Range - Designed operating range of an inverter

duty motor

Example
1800 rpm motor
10:1 Speed Range = 180 -1800 (rpm)

CONSTANT TORQUE REGION

Speed / Torque Curve of an AC Drive & Inverter Duty Motor
100

Torque

90

%
T
O
R
Q
U
E

80

Torque

70
60
50
40

Acceptable Region
for Continuous Operation

30
20
10
0
0

12

18

24

30

36

42

48

54

60

66

72

78

84

Inverter Duty Motors operate at 1/4th Base RPM

90

HZ

CONSTANT HP REGION
Speed / Torque Curve of an AC Drive & Inverter Duty Motor
100

Torque

90

%
T
O
R
Q
U
E

80

Torque

70
60

Torque above
base RPM =

50
40

100%
% Base RPM

30
20
10
0
0

12

18

24

30

36

42

48

54

60

66

CHp Operation above Base

RPM is typically limited to 150%

72

78

84

90

HZ

CONSTANT TORQUE REGION

Speed / Torque Curve of a Vector Drive & Vector Duty Motor
100

Torque

90

%
T
O
R
Q
U
E

80

Torque

70
60
50
40

Acceptable Region
for Continuous Operation

30
20
10
0
0

12

18

24

30

36

42

48

54

60

66

Vector Duty Motors operate at

0 RPM w/ 100% Torque Cont.

72

78

84

90

HZ

CONSTANT HP REGION
Speed / Torque Curve of a Vector Drive & Vector Duty Motor
100

Special
Special motor
motor &
& drive
drive
designs
designs can
can allow
allow operation
operation
up
up to
to 88 ** Base
Base RPM
RPM

90

% 80
T 70
O 60
R 50
Q 40
U 30
E 20

Torque
Torque
Vector Duty Motors may have
CHP Ranges of
2 * Base Speed or more
depending on their design

10
0
0

12

18

24

30

36

42

48

54

60

66

72

78

84

90

96

102

108

114 120

HZ
Some Vector Duty Motors can
provide CHp ( 2 * Base RPM )

Drive Terminology

V/Hz
DC Boost
Accel / Decel
Frequency
Voltage
HP
Speed
Skip & Bandwith
Braking
DB
Regen
Injection
Coast
Ramp

Restart
Preset
Jog
Current Limit
Analog / Digital
Power Factor
Harmonics
Ride - Thru
Speed Range
Speed Regulation
Frequency Regulation
Cogging
Efficiency

Accel/Decel

Acceleration Rate - Deceleration Rate

Rate of change of motor speed.

100 %

Example:
0 Speed - 1750 rpm 30 seconds

Frequency
30 sec

TIME

Full Voltage Bypass

Drive
Branch
Fusing

Bypass
Disconnect
Switch
M

GV3000/SE
Input
Disconnect
Switch
Bypass
Option

Speed Regulation
How Much Will the Speed Change
Between No Load and Full Load?
Expressed as a Percentage

Speed Regulation

DC Voltage Boost

Voltage Boost
Voltage Boost over prolonged operating periods may result in
overheating of the motors insulation system and result in
premature failure.

CAUTION: Motor Insulation

Life is decreased by 50% for
every 10C above the
insulations temperature
capacity
Unable to perform like DC,
the industry looks to Vector Control

Critical Frequency
An Output Frequency of a Controller that
Produces a Load Speed at Which Severe
Vibration Occurs.
A Frequency at which Continuous Operation
is Undesirable

Skip Bandwith
60
50

40
Command Freq.
Output Freq

30

Skip Band
Skip Freq

20

10
0
0

10

AC Drive Inputs
Analog Inputs:

Digital Inputs:

0-10 VDC
10 VDC
4-20 mA

Start
Stop
Reset
Forward/Reverse
Run/Jog
Preset Speeds

GV3000/SE

High Bus Avoidance ( SVC & FVC )

For Trip Free Deceleration if low to medium inertia loads

SPEED

TIME
Trip Free Deceleration when enabled

Snubber/Dynamic Braking
Rectifier

DC Bus

Inverter

AC Power Supply

Snubber/Dynamic Braking
- Addition of Snubber Resitor Kit

7th IGBT

- Dissipates excess energy to regulate

braking

Braking Resistor

- Regulator monitors DC bus voltage

- Signal sent to 7th IGBT
- Handles short term regenerative loads
- Less expensive than AC line regeneratiion braking

AC Regenerative Braking
AC Power Supply

Drive 1

AC Line
Regeneration
Module

Severe Regenerative Braking

- Drives powered through DC bus instead

- Addition of AC Line Regeneration Module

- Monitors DC bus voltage
- Sends Excess voltage back to AC line
- Handles long term regenerative loads
- Run Multiple Drives off 1 Module

Drive 2

of through the Rectifier bridge

- Share regenerative energy between
motoring and regenerating drives
- Send energy back to AC Line instead of
dissipating as heat

Drive 2

Auto - Restart
How will the drive react after being shut down
by a fault condition? Will the drive resume
Running after the Fault condition is Cleared?
(Sometime restricted to certain Faults)

Preset Speeds

A Pre-Programmed Command Frequency

That can be activated via Mode
Select or Input Device

Current Limit
The ability of a drive to react to
the increased current caused by momentarily
increasing the load on the motor (Shock Loading)
without tripping the drive on Overcurrent.

Power Loss Ride-Through

The Ability of a Controller to
sustain itself through a loss of
Input Line Voltage for a specific
period of time.

Operating Range For

Variable Frequency AC Drives