MEGA Servo setup procedure for driving PMS motor

Application Note
AN-MEGA-0016-v105EN
MEGA Servo setup procedure for driving PMS motor
Inverter type
Software version
Required options
Related documentation
Author
Use
Date
Version
Languages
FRENIC MEGA (-EAQ Type)
1700
OPC-G1-PG, OPC-G1-PG2,
OPC-G1-PG22, OPC-G1-PMPG or
OPC-G1-RES
MEGA Servo IM, SI47-1545-E
Joan Manel Ibáñez
Public, Web
21/10/2011
1.0.5
English
1. Introduction.
MEGA Servo inverter is able to drive a PM Synchronous motor in closed loop control. In
this case, the procedure to set up the motor related parameters is a bit different. This
document describes a procedure in order to set up the inverter, when driving PMSM with
MEGA Servo.
2. Description.
The commissioning procedure for FRENIC MEGA Servo is depicted in figure 1 (extracted
from the FRENIC MEGA Servo IM, SI47-1545-E).
For controlling Permanent Magnet Synchronous motor an incremental encoder (open
collector or line driver), an absolute encoder (with U, V and W commutation signals) or a
resolver must be used as a speed/position feedback. For further details in the installation
of the required option card (according to the feedback type used) please refer to the
option card instruction manual.
Once the wiring of the motor and the encoder is finished, it is time to set up the inverter
in order to drive properly the motor. This document explains the part of the procedure
from the “Selection of the motor type” to the “Adjust motor control function code data”.
Application Note AN-MEGA-0016v105EN
1
Figure 1. Inverter Commissioning Procedure
2.1 Permanent Magnet Synchronous Motor parameters setting
The first step consists into setting the PM Synchronous motor control in the inverter, and
the motor capacity:
- F42 = 16 (Vector control with speed sensor for PMSM)
- P02 = Motor Capacity (from motor’s nameplate)
When F42 = 16, the PMS motor parameters will be available (P01 to P03, P30 to P95).
Once the PMSM control is activated, and the motor capacity is set, the next step is to
reset the Motor 1 parameters. In this way, the motor parameters (including the PMS
motor parameters) will be reset to the default settings for this capacity:
- H03 = 2 (Initialize motor 1 parameters)
Now the inverter is ready for the motor parameters setup. The minimum parameters to
set, in order to perform Auto-tuning procedure are shown in table 1.
Application Note AN-MEGA-0016v105EN
2
Table 1. Parameter Setup from SI47-1545 manual
Function
code
Name
Function code data
Factory default
f 04
Base frequency 1
50.0 (Hz)
f 05
Rated voltage at base
frequency 1
Standard motor rated voltage
Motor 1
4 pole
p 01
Motor ratings
(Pole number) (print on the nameplate of the motor)
p 02
(Rated capacity)
p 03
(Rated current)
Standard motor capacity
Standard motor rated current
Magnet pole position
detection method
selection
Motor type
1: IPM
p 90
Overcurrent protection
level
Current limitation value to prevent
demagnetization
It is used to protect the demagnetization by
the motor overcurrent. Set the value when
understanding.
0.00 (A) (disable)
d 14
Feedback input
Type of the target motor encoder
(Pulse input format)
2: A/B phase with 90 degree phase
shift
d 15
(Encoder pulse
Pulse count of the target motor encoder
resolution)
0400 (hex)
(1024 P/R)
f 03
Maximum output
frequency 1
50.0 (Hz)
p 30
f 15
f 07
f 08
Specification value
Frequency limiter (upper) Note) When running the motor for a test, set to
specification value or more. In the
Acceleration time 1
specification value or less, motor might
not be able to normally drive.
Deceleration time 1
70.0 (Hz)
22 kW or less: 6.00 (s)
30 kW or more: 20.00 (s)
22 kW or less: 6.00 (s)
30 kW or more: 20.00 (s)
Note: F03, F15, F07 and F08 will be taken into consideration only if the dynamic
autotuning (P04 = 2, described below) is used.
The P30 initial setting should be set depending on the motor permanent magnets
arrangement:
- P30 = 1. In case of Inner Permanent Magnets (IPM) motor (setting by default, this will
be the setting normally used as the majority of motors behave as IPM type).
- P30 = 2. In case that Surface Permanent Magnets (SPM) synchronous motor is
controlled.
During normal operation (except commissioning), the setting of P30 is relevant only
when using incremental encoder.
If information about function P90 (“Overcurrent protection level”) is not available, a typical
setting could be the double of the rated current. This setting is very important in order to
avoid damaging the Permanent magnets of the motor.
2.2 Complete Auto-Tuning and Pole-Tuning Procedure (especially when using
incremental encoder).
Now it is time to perform Auto-tuning and Pole-tuning procedures. Please find in table 2
the different Auto-tuning and Pole-tuning procedures available if permanent magnet
motor control is active (F42 = 16).
Application Note AN-MEGA-0016v105EN
3
Table 2. Different Auto-tuning and Pole-Tuning procedures from SI47-1545 manual.
P04 data
1
2
4
Motor parameters
subjected to tuning
Tuning operation
Select under the following
conditions
Impossible to rotate the motor.
Because the mechanical load
have already been installed.
P30=1 or 2
Tune without
rotating the
motor
Primary resistance (P60)
d-axis inductance (P61)
q-axis inductance (P62)
reserved (P84, P88)
Tuning with the motor stopped.
Tune with the
motor rotating
Primary resistance (P60)
d-axis inductance (P61)
q-axis inductance (P62)
Inductor voltage (P63)
Reserved (P84, P88)
Magnetic pole position
sensor offset (P95)
Tuning the P60 to P62, P84 and
P88, with the motor stopped.
Tuning the P63 with the motor
Possible to rotate the motor, the
rotating (50 % of base
motor is not coupled to any
frequency).
mechanical load.
(F42=16, and P95=999)
Tuning the P95 with the motor
rotating (rotation speed = d80).
Pole Tuning
with the motor
rotating
Magnetic pole position
sensor offset (P95)
Tuning the P95 with the motor
rotating (rotation speed = d80).
(Note) In case of P30=0 (No
operation) or P30=3 (Simple
IPM method), tuning without
rotating the motor can not
be used.
Possible to rotate the motor, the
motor is is not coupled to any
mechanical load.
When using the vector control
with speed sensor for PMSM.
(F42=16)
The recommended procedure for the Auto-Tuning and Pole-Tuning is as follows:
1- Calculate P63 “Inductor Voltage” value. To calculate this value, the Ke constant of the
motor is needed (normally supplied by motor manufacturer). Once calculated, save
the value in the inverter.
P63 = Ke ⋅
N rtd
1000
Where:
Ke is the back EMF constant, in V/1000rpm
Nrtd is the rated speed in rpm
2- Perform static Auto-Tuning (P04 = 1). This will calculate the P60, P61, P62, P84 and
P88 motor parameters. If OCx or Er7 alarm occurs during this procedure, please
check that the back EMF (P63), rated frequency (F04) and rated voltage (F05)
parameters are properly adjusted. If it’s not possible to perform the Auto-Tuning even
the above mentioned parameters have been adjusted, please refer to Step 4.
3- Perform Pole-Tuning (P04 = 4). The motor will move at d80 speed and function P95
(magnetic pole offset) will be measured. Therefore, the motor must be in no load
condition. If Er7 appears during this procedure, please take into account that the
speed loop parameters (ASR) affect the pole tuning procedure. A good tip could be to
disable the several filters (d01, d02 and d05) or modify the speed loop constants
(d03, d04). If it is not possible to solve the problem by adjusting these parameters,
please set P30 to the correct value.
Application Note AN-MEGA-0016v105EN
4
If incremental encoder is used, then inverter will perform automatically Pole-Tuning at
the very first RUN Command after every inverter power up. Please refer to point 4
explanation, below.
4- Once Static Auto-tuning and Pole-Tuning are finished, the value in P86 (North-South
discrimination value) must be bigger than 10% to ensure a proper pole offset
detection.
In case we cannot achieve P86 > 10%, the first countermeasure to take would be to
slightly increase the value of P87 and test again.
If P87 is increased but P86 is still smaller than 10%, then P30 value must be
changed. P30 must be changed if Er7 arises, as well. Please refer to table 3 below.
Permanent
Magnet
IPM
SPM
Table 3. P30 setup process
Initial
Tuning
P30
1
P86 < 10% or Er7
2
P86 < 10% or Er7
New
P30
3
0
If P30 is set to 3 or 2 and Er7 still occurs then please set P30 to 0 and try to perform
Dynamic Auto-tuning.
When using incremental encoder, the automatic Pole-Tuning procedure will change
depending on the P30 value. Please refer to Table 4.
Table 4. Pole-Tuning behaviour in case of using incremental encoder
F42 data
Encoder
P95 data
P30 data
Starting operation
16: Vector control
with sensor for
PM
Incremental:
A/B phase with 90
degree phase shift
and Z phase
999
(No adjustment of
offset)
0: Alignment method
by current
3: Alignment method
by current for
IPMSM
1: Method for IPMSM
2: Method for
SPMSM
0, 3
< Start impossible >
erc alarm is occurred, and it does not start.
Adjust P95.
0.0 to 359.9°
(Offset has been
adjusted)
1, 2
< Magnetic pole position detection start >
After detecting the magnetic pole position,
it starts from 0 Hz.
< Magnetic pole position alignment start >
Only at the first operation after the power
supply of the inverter has been turned on,
the magnetic pole position alignment
operates by the frequency of d80.
After the magnetic pole position alignment
is completed, inverter accelerates the motor
to the reference speed.
From second operation, it starts from 0 Hz
(Normal start). The magnetic pole position
alignment operation takes the time for one
rotation of the mechanical angle in
maximum case. ( Function code d80)
< Magnet pole position detection start >
After magnetic pole position detected, it
starts from 0 Hz.
Only in case of P30 = 1 or 2, the automatic Pole-Tuning at every power up will be
completely static, so no other consideration must be taken into account. On the other
hand, if P30 is equal to 0 or 3, this automatic Pole-Tuning after the power up will not
be static, and the inverter will turn the motor at d80 speed. This behaviour may not be
acceptable in certain applications (e.g. vertical loads).
Application Note AN-MEGA-0016v105EN
5
If it is not possible to calculate the back EMF constant value (P63) or if the value of
P30 is different than 1 or 2, the dynamic auto-tuning procedure (P04 = 2) is available
for the user. During the Dynamic Auto-Tuning, no load must be attached to the motor
shaft.
When P30 = 0, it is recommended to set F23 = 1.0 Hz and F24 = 1.0 s momentarily,
just for the Dynamic Auto-Tuning procedure.
The Dynamic Auto-Tuning consists on the following stages:
a.
Static Auto-tuning, like the point 2 in the procedure above.
b.
Dynamic Pole-Tuning, like the point 3 in the procedure above.
c.
Calculation of the P63 value, with the motor driving at the half of the rated
speed (F03). For this stage, acceleration/deceleration times and maximum speed
level have to be properly set.
2.3 Simplified Auto-Tuning and Pole-Tuning Procedure (for resolver or absolute encoder)
Alternatively, a simplified procedure for the Pole-Tuning + Auto-Tuning can be performed
in case resolver (d14 =2) or absolute encoder (Incremental + U, V, W signals, d14 = 4)
feedbacks are used. After setting the function codes described in Table 1, please set
P30 = 0 and execute the Dynamic auto-tuning (P04 = 2), as described in previous
subchapter 2.2 (instead of following steps 1 to 4 from the procedure described in
subchapter 2.2).
2.4 Current Loop gain setting
After the Auto-Tuning procedure, it’s time to adjust the Current Loop gain (d91).
Normally, it is not needed to change the default setting (999), because in this case the
inverter will use a value based on the motor parameters.
Modify the d91 value only if:
- Current flowing in the motor is not enough to achieve the desired dynamic
performance (even the Torque Command value is saturated): increase slightly d91
value, and test again.
- If OCx errors arise when trying to move the motor, or if noise from the motor can be
observed when current is flowing through it, or when the inverter output current wave
shape is not a sinusoidal shape: decrease slightly d91 value, and test again.
The base value for testing a new setting in d91 (the default setting is “999: Automatic”)
can be obtained by means of the following formula:
L ⋅I ⋅K
d 91 = d n
Vn
where,
Ld, is the motor d-axis inductance in mH, from P61
In is the motor rated current in A (value set in P03)
K is a constant value, 2.165
Vn is the motor rated voltage in V (value set in F05)
Note: d91 value depends only on the motor parameters, not in the load or the
mechanical configuration (inertia, gear ratio, etc.) of the installation.
Application Note AN-MEGA-0016v105EN
6
3. Conclusion.
Using FRENIC MEGA Servo software version, the inverter will be able to drive PM
synchronous motors in closed loop. The commissioning procedure of a PM synchronous
motor is slightly different to an Induction Motor. Following this procedure, the inverter will
be adjusted for driving properly a Permanent Magnet synchronous motor in closed loop.
4. Document history.
Version
Changes applied
Date
Written
Checked
Approved
1.0.0
1.0.1
1.0.2
1.0.3
First version
Small text corrections
Added several explanations
Small text corrections
Added simplified procedure
Added calculation formula of d91.
Some text corrections
Text correction in point 2, section
2.2
Resolver setting added in 2.3
05/08/2011
29/08/2011
09/09/2011
14/09/2011
JM Ibañez
JM Ibáñez
JM Ibáñez
JM Ibáñez
D.Bedford
D.Bedford
D.Bedford
21/10/2011
JM Ibáñez
D.Bedford
D.Bedford
05/01/12
JM Ibáñez
S. Ureña
D.Bedford
1.0.4
1.0.5
Application Note AN-MEGA-0016v105EN
7