ПНТ 1 М Е УХЛ 4

Transcription

1 INTODCTION This se s Manual is intended fo studying the convetes seies ПНТ1М, heeinafte efeed to as convetes, and ensuing thei coect opeation. It is intended fo maintaining pesonnel who have undegone special taining in opeating and maintaining semiconducto equipment. eliability and longevity of the convetes is povided not only by the quality of the convetes themselves, but also by coect opeation, theefoe obsevance of all the equiements stated in the pesent document is obligatoy. The schematic cicuit diagams of the component pats of the convetes ae compiled as a sepaate diagam album in accodance with the list ГЛЦИ ОП. 1. DESCIPTION AND OPEATION OF CONVETES 1.1 Application The convetes ae intended fo constuction of d.c. dives employing motos with electomagnetic o pemanent magnet excitation. 1.2 Delivey Set and Convete Code Explanation The convetes compise: - convete unit БПНТ1М - 1 item - high-speed fuses (accoding to the inquiy sheet depending on the numbe of feeding mains phases) - 2 o 3 items Convete Code Explanation ПНТ 1 М Е УХЛ 4 Climatic modification and location categoy: УХЛ4 cold and modeate 04 topical Feedback type: E e.m.f. feedback C speed feedback ated cuent 005 5A; A; A ated feeding mains voltage: 2 220V; 3 380V Modified Development Non-evesible Tansisto Convete

2 Convete nit Code Explanation БПНТ 1 М Е УХЛ Specifications The convetes ae intended fo opeation in the following conditions: Climatic modification and location categoy: УХЛ4 cold and modeate 04 topical Feedback type: E e.m.f. feedback C speed feedback ated cuent 005 5A; A; A ated feeding mains voltage: 2 220V; 3 380V Modified Development Non-evesible Tansisto Convete - Ambient tempeatue should be within 5-45 C, and fom 45 to 55 C with eduction of the ated cuent by 10% pe evey 5 C; - Altitude should not exceed 1000 m. In case of altitude exceeding 1000 m up to 4300 m ambient tempeatue should be educed by 0.6 C pe evey 100 m; - Envionment should not be satuated with conductive dust and wate vapos as well as explosive o coosive gases o vapos in concentations that may coode metal and insulation As fo the influence of extenal mechanical factos, the convetes comply with the equiements of opeating conditions standad M8 with seveity degee II Opeating position of the units is vetical with deviation to eithe side of no moe than Potection degee IP The convetes ae poweed fom single- o thee-phase mains with a fequency of 50 o 60 Hz and voltage of 230 o 380 V (depending on the voltage modification) diectly o via a matching tansfome, in case of mains voltage of 400, 415, 440 and 500 V only via a step-down tansfome o an autotansfome. Maximum pemissible deviations of feeding mains voltage ae fom +10 to 15% of the ated value and of fequency fom +2 to 2% of the ated value The main technical paametes of the convete units ae given in Tables 1.1 and Electic dives based on the convetes with speed feedback ensue technical chaacteistics accoding to Table 1.3, and those with e.m.f. feedback accoding to Table The ated opeating mode of the convete is continuous. Opeation in shot-tem (S1) and

3 intemittent (S3) modes is also pemitted. The diagam of oveload capacity (I/I at ) as a function of time fo S2 mode at a speed of 0.25 of the ated is shown in Fig Convete Potections, Intelocks and Alams The convete units have the following potections: ovecuent potection (I>I max ); Table 1.1 Maximum output voltage, V, at ated Convete unit Feeding mains Convete ated feeding mains voltage type voltage, V cuent, A Single-phase Thee-phase БПНТ1М БПНТ1М БПНТ1М БПНТ1М БПНТ1М БПНТ1М Table 1.2 Toque efficiency facto fo Convete unit Single-phase Thee-phase type mains mains БПНТ1М БПНТ1М БПНТ1М БПНТ1М БПНТ1М БПНТ1М Table 1.3 Speed of otation n at 0.1 n at 0.01 n at n at n at Table 1.4 Speed of otation n at 0.1 n at 0.05 n at 0.02 n at n at otation speed eo, no moe At load Total, change, % % I/I Excitation winding supply unit Cuent in Output voltage continuous mode, A otation speed eo, no moe At load Total, 1.1 change, % % t, s Fig.1.1 Convete oveload capacity diagam

4 time-cuent potection in the event of shot-tem cuent oveload of the convete; potection fom tachogeneato cicuit failue (in the modification with speed feedback). Opeation of evey kind of potection bings about blocking of the powe tansisto and indication on the face panel of the convete The convete units have a light alam indicating eadiness fo opeation, convete opeation and potection opeation The convete units povide intelocking of opeation on emoval of signal opeation allowed The case of the convete has a bolt fo gounding Indices of eliability of Convete nits: total opeation time hous; aveage life 15 yeas; waanty tem is 2 yeas since the beginning of duty but no moe than 2.5 yeas since the date of manufactue; aveage estoation time is no moe than 8 hous, if using eseve units no moe than 0.5 hous Design and Action of Convetes and Dives Based Theeon The schematic cicuit diagam of the convete is shown in dawing ГЛЦИ Э3. Thee-phase powe mains voltage of 220 o 380 V depending on the voltage modification (fo diect connection o via a matching tansfome) is supplied to teminals X1.1-X1.3 (L1-L3) though the potecting fuses included into the delivey set. In case of single-phase mains the feeding wies ae to be connected to any two teminals of L1-L3. The single-phase voltage of 220 o 380 V of the same (o anothe) mains fo feeding the contol cicuit and ventilato (if installed) is supplied to teminals X1.4 and X1.5. In the convete modifications with a ventilato a jumpe is installed between teminals X1.4 and X1.7 if the voltage of the ventilato coesponds to that on teminals X1.4, X1.5. If the latte ae supplied with a voltage of 380 V, an additional esisto ( доп ) with esistance of 2.7 kω and capacity of no less than 25W is installed between X1.4 and X1.7. The powe voltage is ectified by diodes VD1 VD3 and filteed by capacitos C1, C2 as well as the capacitos of the potecting C-cicuits unit (E1.2). ectified and filteed voltage d via cuent tansfome TT and powe tansisto VT1 is connected to teminals X1.8 (+ moto ) and X1.9 ( moto ) with the d.c. moto amatue connected theeto. Voltage moto is PWM-egulated within d by the tansisto and high-fequency diode VD4. When tansisto VT1 is open, moto d and the moto amatue cuent ises and enegy is accumulated in the amatue cicuit inductance. When tansisto VT1 is closed, the amatue cuent

5 continues to flow due to the enegy accumulated in the inductance deceasing in value, wheeas the cicuit is closed though diode VD4. nits E1 and E5 have C-cicuits educing ovevoltage peaks and suppessing adio intefeence Contol of the convete is pefomed by the egulating system epesented in dawing ГЛЦИ Э3 (contol unit N1). The contol system consists of: PI-contolle of speed based on opeational amplifie DA2, on whose input command voltage com and tachogeneato voltage B o the moto e.m.f. pick-off voltage ae summated; PI-contolle of cuent based on opeational amplifie DA6; geneato of saw-tooth efeence voltage based on opeational amplifie DA9. PWM-egulation of the moto amatue voltage is pefomed with the aid of this voltage; elay element with a naow hysteesis loop based on opeational amplifie DA8 with positive feedback via esisto 42; moto cuent pick-off, based on opeational amplifies DA3, DA5, DA7 constituting simplified models of the moto cuent cicuit (DA5) and of the convete (DA3), contolled by the voltage deived fom esisto 8 that epesents the load of a.c. tansfome T1, whose pimay winding is inseted into the cicuit of the moto amatue and powe tansisto; moto e.m.f. pick-off based on opeational amplifies DA1 (moto voltage pick-off) and DA4; powe tansisto contol unit based on optical couple VD21 and tansistos VT10, VT11. The voltage on the output of the PI speed contolle (moto cuent command signal) is limited to a level of no moe than 7.5 V by vaiable esisto 16 when positive and by zene VD6 when negative. The fome limitation sets the maximum possible amatue cuent in tansient modes (cut-off cuent), wheeas the latte pevents an undesiable negative impulse of the contolle voltage theeby educing the speed dop at load dischage. The PI-contolle output voltage in the absence of the command and feedback signals is set close to zeo with esisto 72. The paametes of the PI-contolle ae set with changeable elements 11 and C3. With the aid of changeable esisto 7 the nomalized speed feedback signal in point 8 at the maximum moto speed and maximum speed command is set to +7.5 V. It is ecommended to assume com 10V. The voltage on the output of the PI-contolle of cuent is limited by changeable esisto 35 when negative and by diode VD12 when positive. The said limitations ae necessay fo coect opeation of the PWM moto voltage contol system, excluding the mode with constantly open tansisto wheein the use of a simple and intefeence-immune a.c. tansfome as a moto cuent pick-off is impossible.

6 The voltage of the cuent contolle (point 25 ) should neve exceed the saw-tooth efeence voltage fomed in summating point 2 of amplifie DA9 wheeas the time of switched-off state of the powe tansisto should not be shote than 0.1 of the peiod of saw-tooth voltage. The paametes of the cuent contolle ae set by Manufactue fo an aveaged d.c. moto with electomagnetic excitation. When using othe types of d.c. motos the paametes of the cuent contolle have little influence ove the quality of tansients due to high-speed pefomance of the contolle. The moto cuent pick-off opeates as follows. Voltage popotional to the moto voltage is applied to the input of amplifie DA7 though esisto 17 and diode VD7. Voltage popotional to the moto e.m.f. but opposite by sign is applied to the same input via esisto 12. The diffeence between the said voltages popotional to the voltage dop on the amatue esistance of the moto is amplified by amplifie DA5, filteed with the help of feedback elements 21, C5 and compaed with the voltage on esisto 8. Due to the high amplification facto of DA3, when the amatue cuent ises, the voltage on the output of DA5 follows the voltage on esisto 8 popotional to the moto cuent. When the cuent deceases (the powe tansisto is closed and the voltage on 8 is zeo due to action of cut-off diode VD3), the output voltage of DA5 falls unde the influence of the voltage in point 8 popotional to the moto e.m.f. accoding to the time constant T21*C5 that should be equal to the amatue cicuit time constant T a L a / a. Time constant T may be adjusted by the se fo a concete moto with changeable esisto 21. A nomalized signal (aveage value) of +2V (at the ated moto cuent) o +3V (at the cut-off cuent I cut-off 1.5I at ) on the output of DA5 is set with esisto 8. The moto e.m.f. pick-off is based on the solution of the voltages balance equation fo the moto amatue cicuit: M E+I a a +L a di/dt (1.1) In opeato fomat this equation can be witten as follows: E M I a a I a T a p (1.2) This equation is solved with opeational amplifie DA4, whee DA4 stands fo value E in a cetain scale, voltage DA1 fo M and DA5 fo the value I a a. The voltage on the output of DA4 (without consideation of influence of capacito C4): DA4 DA1 18 / 14 DA5 18 / 13 DA5 C 2 18 p (1.3) Capacito C4 filtates the output voltage of amplifie DA4, theeby educing intefeence in the egulating cicuit. The powe tansisto contol unit povides application of positive voltage to the base of the powe

7 tansisto if cuent flows though the input cicuit of optical couple VD21 (tansisto VT7 is open by the positive potential on the output of DA8), and of negative voltage in the absence of cuent in the input cicuit of VD21 (tansisto VT7 is closed). esisto 65 and diodes VD26, VD27 povide eduction of the powe tansisto base cuent to the minimum level, necessay fo keeping the powe tansisto in an open state, by pumping out a pat of tansisto VT10 base cuent to the collecto cicuit of the powe tansisto The Potection, Alam and Intelock System consists of: -ovecuent potection; -time cuent potection (potection fom long oveloads); -potection fom speed feedback cicuit (tachogeneato) failue; -indicato of eadiness fo opeation (geen LED VD24 ГР ); -indicato of switched-on state of powe tansisto (geen LED Работа ); -indicato of potection opeation (ed LED Авария ); -speed contolle intelock unit; -unit poducing signal «ГР» ( eadiness fo opeation ). All the potections ae based on the potection flip-flop, employing tansistos VT3, VT4 foming a cicuit analogous to a thyisto. In case of opeation of any potection the tansistos open, shunting the input cicuit of optic couple VD21 with the esult that the powe tansisto contol unit applies negative voltage to the base of the tansisto theeby closing it. Ovecuent potection is povided by applying a signal popotional to the cuent in the powe cicuit deived fom esisto 8 (point 9 ) to the base of tansisto VT4 via esisto 32.This signal is compaed with the constant signal coming fom the stabilized souce 15V though esisto 34. When the cuent in the powe cicuit exceeds the ated value by moe than (60 80)% tansisto VT4 opens and the potection flip-flop switches. The time-cuent potection is based on opeational amplifie DA10 and tansisto VT6. The signal fom the output of amplifie DA5, popotional to the convete output cuent, comes to the input of amplifie DA10 via esisto 27 and the paallel-seies chain compising esistos 31, 38 and diodes VD10 VD14 that constitutes a non-linea esisto with appoximately quadatic dependence on voltage. Thanks to esisto 45 and capacito C12 in the feedback cicuit of the amplifie, its output signal is popotional to the value I 2 t and coespondingly to the tempeatue of oveheating of the moto and powe tansisto coole. This signal comes to the potection flip-flop input via the theshold element based on tansisto VT6. The esponse level of this potection is

8 detemined by the elation between the esistances of 46 and 52. The dependence of esponse time of this potection on the cuent is shown in Fig The potection against the tachogeneato cicuit failue is based on compaison of the tachogeneato signal with a signal popotional to the moto e.m.f. In case of nomal opeation these signals ae appoximately equal and opeation of the dive is pemitted. In case the tachogeneato cicuit is open o thee is a shot-cicuit between its teminals, the diffeence between the said signals becomes lage than a peset theshold level and opeation of the dive will be pohibited. The signal fom the output of DA4 popotional to the moto e.m.f. is applied to the base of VT2, wheeas the nomalized speed signal (the voltage on capacito C1) is applied to the emitte. In case of disappeaance of the nomalized speed signal o its impemissible decease tansisto VT2 opens causing tansisto VT3 to open and the potection flip-flop to switch. The eadiness fo opeation signaling unit and the unit poducing signal ГР employ tansistos VT8, VT9, VT12 and VT14. When feeding voltage +15V appeas capacito C14 begins to chage. As soon as the voltage on this capacito eaches the theshold value of zene VD19 tansisto VT8 will open and tansisto VT9 close, pemitting the powe tansisto contol unit to opeate on condition that the potection flip-flop is switched off. The cuent flowing fom souce +15V though esistos 50 and 61 opens tansistos VT12 and VT14. Geen LED VD24 lights up and signal ГР appeas. Tansisto VT14 might be used fo switching on an intemediate elay in an uppe level device to pefom commutations necessay in connection with the appeaance of the signal that the dive is eady fo opeation. Blocking of the speed contolle is pefomed by shunting the output of opeational amplifie DA1 with tansisto VT1 in the absence of signal PP ( Opeation Pemitted ) fom an extenal device. The said blocking is pefomed with the aid of a dy contact (o tansisto) shot-cicuiting teminals 8 and 7 of connecto X1. If the contact is made (signal PP is pesent) tansisto VT1 is closed and opeation of the convete is pemitted. If the contact is open the speed contolle is intelocked. Simultaneously, the powe tansisto is blocked (tansisto VT7 is closed) with the aid of tansisto VT5. In case of opeation of any of the potections tansisto VT14 closes, LED VD24 goes out, tansisto VT13 opens and LED VD25 Авария ( Failue ) lights up. Signal eadiness fo opeation is emoved. The potection flip-flop can be eset with the aid of contacts Cброс ( eset ) and Oбщий ( Common ) The intenal cicuits ae poweed fom intemediate tansfome T1 installed in contol unit

9 N2 (ГЛЦИ Э3). The voltage egulatos fo +15V and 15V ae based on tansistos VT1 and VT2 and zenes VD10, VD15. They ae intended fo poweing the egulating system, potection and alam system with stabilized voltage decoupled fom the powe voltage. The voltage egulatos fo +6V and 6V ae based on tansistos VT3, VT4 and zenes VD12, VD13. They ae intended fo poweing the powe tansisto contol unit and contol cicuits of the excitation winding powe souce that ae conductively coupled with the powe cicuit. The potection of the powe souces is pefomed by fuses F1 and F The excitation winding powe souce (ГЛЦИ Э3) is also installed in contol unit N2. It is based on a PWM voltage egulato with negative cuent feedback. The high-voltage powe tansisto, VT1, type KT839A is contolled with low-voltage tansisto VT2 type KT819Б installed into its emitte cicuit. The unit is poweed with ectified voltage d fom the intemediate d.c. cicuit of the convete. The cuent pick-off compises two low-impedance esistos 2 and 3 connected in paallel. The voltage fom this esistos comes to the input of opeational amplifie DA1.1 (cuent contolle). The voltage dop on esisto 70 is used as a cuent command signal. The said esisto is connected to teminals OB 1 and OB 2 and installed in contol unit N1 to povide convenience of adjustment. The cuent though this esisto is detemined by the voltage of zene VD4 and esistance of 7. The output voltage of the cuent contolle is compaed with the saw-tooth voltage fomed on capacito C4 by amplifie DA1.2. Amplifie DA1.2 having positive feedback via esisto 11 switches with a fequency of about 1 2 khz theeby pefoming PWM-egulation of the output voltage. This voltage comes to the base of tansisto VT2 though common-collecto amplifie VT3 and esisto 12.The aveage cuent of the moto excitation winding can be adjusted by otating the slide of vaiable esisto 70, but the cuent should not exceed the maximum value stated in Table MONTING AND OPEATION 2.1 Location and Mounting The convete unit is installed into a contol cabinet, on a contol boad o into a niche of a lathe o anothe industial mechanism poviding the cleaances accoding to Fig. 2.1 ae obseved. The potection degee is IP00. The oveall and mounting dimensions of the convete unit ae epesented in Figs The

10 extenal view of the unit face panel is shown in Fig The convete has the following extenal cicuits (on connecto X1): powe voltage connection cicuit (teminals X1.1 ( L1 ), X1.2 ( L2 ), X1.3 ( L3 )); cicuit to connect the voltage fo poweing the contol cicuits and ventilato (teminals X1.4, X1.5 ( ~ п )); cicuit fo connecting a jumpe o an additional ballast esisto, ДОП, fo matching the feeding mains voltage with the ventilato voltage (teminals X1.4 and X1.7); cicuit fo connecting the moto amatue (teminals X1.8 ( + ДВ ) and X1.9 ( ДВ ); cicuit fo connecting the excitation winding (teminals X1.8 ( + OВ ) and X1.6 ( OВ ); cicuit fo connecting an additional smoothing capacito C add (teminals X1.8 ( + ДВ ) and X1.10 ( d ); gounding cicuit. On connecto X1 of contol unit N1: cicuit fo connecting the speed pick-off (tachogeneato) (teminals B and общий РС ); cicuits fo connecting an extenal contol device (teminals ЗАД [speed command, com ], Общий РС [Common of PC], 15V, PP, ГР, Общий [Common], Сброс [eset]). CATION! The ventilato installed in ПНТ1M does not have a modification fo 380 V. Theefoe the teminals ~ П can be connected to the mains of 220 V only. 100 ppe cleaance 100 Font cleaance 100 Lowe cleaance Fig. 2.1 Cleaances Fig. 2.2 Oveall and mounting dimensions of convetes ПНТ1М and ПНТ1М-3.005

11 5.8 powe feeding mains feeding mains fo contol cicuits moto excitation winding I exc moto amatue Fig. 2.3 Oveall and mounting dimensions of convetes ПНТ1М and ПНТ1М I max РАБОТА ГР АВАРИЯ Fig. 2.5 Connection Diagam of Convetes Seies ПНТ1М Fig. 2.4 Oveall and mounting dimensions of convetes ПНТ1М and ПНТ1М If the se has difficulty in obtaining a voltage of 220 V it is possible to connect a voltage of 380 V to teminals П (coespondingly the modification of unit N2 should be fo 380 V) having installed a ballast esisto ДОП with esistance of 2.7 kω and capacity of no less than 25 W between teminals X1.4 and X1.7. The coss-sections of the wies fo connecting the powe feeding mains voltage and moto amatue ae given in Table 2.1. The wie coss-sections fo the gounding cicuits should be at least the same as that fo the phases of the powe mains voltage. The coss-section fo the othe cicuits should be at least 0.2 mm 2. The cicuits fo connection of signals зад ( com ), B, Сброс ( eset ), PP, ГР should be made of wies with a length of no moe than 0.5 m and sepaated

12 (distance between the bunches - at least 0.3 m) fom the powe cicuits. In case of longe wies it is necessay to use wies twisted in pais with a step not exceeding 10 mm (desiably sceened). The sceen should be connected to contact Общий ( Common ). powe feeding mains powe mains fo contol cicuits F1 F2 F3 L1 L2 L ПНТ1М exc + m m M C add Exc. Winding add Fig. 2.6 Connection Diagam of Powe Cicuits 2.2 Pepaation of Convetes fo Opeation The schematic diagam fo connection of the convete unit to the mains and moto is epesented in Fig It is possible to use the convete as a single-phase one with connection via any pai of the input powe teminals. The contol system can also be connected to the powe mains with the exception of dive ПНТ1М-3.020, whose ventilato and contol system voltage is 220 V. The said connection is pefomed befoe fuses F1 F3 (see Fig. 2.6). Table 2.1 Wie coss-section, mm 2 Convete type Powe voltage Moto amatue Fuse type connection connection ПНТ1М ПП Пл.вст. 6.3 А ПНТ1М ПП Пл.вст. 16 А ПНТ1М ПРС-63 Пл.вст. 40 А Note: use of fuses of othe types with analogous paametes is also possible The convetes ПНТ1М ae intended fo being poweed fom low-inductance powe mains. If the inductance of the mains is consideable o a matching powe tansfome (o autotansfome) is used, it is necessay to connect an additional non-electolytic capacito to the intemediate d.c. cicuit (teminals X1.8 and X1.10). Its capacity is C AL fm B [F] (2.1) whee L fm feeding mains inductance [H], A, B coefficients shown in Table 2.2.

13 B Table 2.2. Convete ПНТ1Мtype A ПНТ1М ПНТ1М ПНТ1М ПНТ1М * *10-6 8* * *10-6 ПНТ1М * In case of the necessity fo eduction of the level of adio intefeence ceated by the opeating convete it is ecommended to connect capacitos type K25-24 with capacity of at least 4 µf (o analogous in paametes capacitos of othe types) connected in sta to teminals L1, L2, L3 of connecto X1. Thei common point must be gounded The diagam fo connecting the signal cicuits is shown in Figs. 2.7 and Sequence of Calculation of Speed Contolle Paametes a) calculate the esistance value of 7 in ode to povide nomalized speed feedback signal OCH 7.5V at n max in point 8 : B max OCH B max 7.5 7, [ Ω] (2.2) OCH ( + ) whee Bmax is the tachogeneato voltage at maximum moto speed n max. In this case the maximum value of the command voltage should be: COMmax dн 6 / /7.5 10, [V] (2.3) b) detemine the speed feedback facto: k , [Vs/ad] (2.4) ω n ocн осн oc max nmax max c) detemine the voltage amplification facto of the convete: d, at d, at k П, (2.5) 5 ПМ whee d,at is the ated voltage in the intemediate d.c. cicuit. At feeding mains voltage of 220 V d,at 300 V and at feeding mains voltage of 380 V d,at 520 V. ПМ is the peak-to-peak amplitude of the saw-tooth voltage in the PWM-egulato, ПМ 5 V. d) detemine the cuent pick-off gain: k ДТ, [V/A] (2.6) I 26 I 3.9 I whee 8 2 V is set with esisto 8 at the ated cuent of the convete I. w I w1 100, [Ω] (2.7)

14 Cicuit PP 8 eset V 5 Common 7 ГР 3 Common PC 6 PP eset + 24V 1.5kΩ max 2.7 kω set min 24 Extenal souce decoupled fom feeding mains Fig. 2.7 Connection of Signal Cicuits of Convete with E.M.F. Feedback Cicuit b 1 Common PC 6 PP 8 set 2 eset 4 Common 7 15V 5 ГР 3 eset M B PP + 24V kΩ n max Extenal souce decoupled fom feeding mains 2.7 kω n set n min 24 Fig. 2.8 Connection of Signal Cicuits of Convete with Speed Feedback whee w is the wind count of the seconday winding of the cuent tansfome, I is the ated cuent of the convete, w 1 is the wind count of the pimay winding. The poduct I w 1 always equals 20 (1 wind fo a ated cuent of 20 A, 2 winds - fo 10 A and 4 winds - fo 5 A). e) detemine the time constant of the moto amatue cicuit, T a L a / a, whee L a is the inductance of the amatue cicuit and a is the esistance of the amatue cicuit. The said paametes can be taken fom the data on the moto. L a can also be found by expeiment at the minimum speed of the dive accoding to the expession:

15 L a t d, at, [H] (2.8) I a whee I a is the amatue cuent incement duing the time t that ae detemined using the oscillogam of the voltage on esisto 8. f) detemine the cutoff fequency of the cuent closed loop: k П 25k ДТ ω ci (2.9) L a At a 29 k П k ДТ k П k ДТ ω ci, [ad/s] (2.10) L T a a g) choose the cutoff fequency of the speed closed loop, ω c, basing on the equied esponse speed of the dive and the intefeence level in the egulating loop and obseving the condition ω c <2ω ci. It is ecommended to choose ω c within ad/s. The highe is the intefeence level, the lowe should be the cutoff fequency. h) calculate the value of changeable esisto 11 : 11 ω ck ДТ J10, [Ω] (2.11) C k M OC whee J is the total moment of inetia on the moto shaft, [kg m], C M M I ω P I 9.55P n I, [N m/a] (2.12) whee P is the ated capacity of the moto, [W], n is the ated speed of the moto, [.p.m]. The value J/C M can be detemined by expeiment, the moto being stated-up without load (but with the mechanism connected to the shaft). J C M 9.55I stat upt, (2.13) n max whee t is the time duing which the moto eaches the speed n max with the cuent I stat-up. i) the capacity of C3 is detemined as: C 3 whee b>2. b, [F] (2.14) 11ω c The moe is b, the less is the value of speed ovecompensation but the moe is the tansient duation. It is ecommended to assume b within 2 6.

16 Fo the modification with e.m.f. feedback the sequence of calculation of the speed contolle paametes is the same. In this case it is necessay to povide a nomalized signal of 7.5 V in point 8 at the maximum speed by choosing changeable esisto The sequence of calculation of the e.m.f. pick-off paametes is the following: - calculate the esistance of 14: E 60E, [Ω] (2.15) E, ( 1 + 3) whee E is the ated e.m.f. of the moto, E, is the voltage on the output of amplifie DA4 coesponding to the ated moto e.m.f; Subsequently, this esistance is detemined moe pecisely duing adjustment to povide EH 8 V at the maximum speed of the moto otating without load. - the esistance of 13 is calculated accoding to the expession: 13 2( 1 + 3) , [Ω] (2.16) ( I ) I 9 a a Subsequently, this esistance is detemined moe pecisely duing adjustment so that the voltage on the output DA4 at the stopped moto is zeo, the cuent being within of the ated value. - the capacity of C2 is calculated with the expession: C 2 Ta, [F] (2.17) 13 - the esistance of 21 is calculated with the expession: 2E E , [Ω] (2.18) E, I a 3.75I a - the capacity of C5 is calculated with the expession: C T L a a 5, [F] (2.19) 21 21a If the capacity is diffeent fom that mounted on the PCB, it may be coected by installing an additional capacito on petals 21, 22 in paallel with esisto esisto 22 fo the modification with e.m.f. feedback is chosen so that the signal in point 8 is equal to 7.5 V at the maximum speed. In this case esisto 7 should be emoved. On the othe hand, in the modification with speed feedback esisto 7 is installed wheeas esisto 22 is emoved. The esistance of 22 is about 285 Ω unning sing commutating appaatuses (ae not included into the delivey set), connect the feeding

17 voltage fo the contol cicuits and then the powe voltage. Geen LED VD24 ГР should light signalizing that the dive is eady fo opeation Close the contact of opeation pemission, PP Connect the command voltage (speed command). The dive should acceleate to the set speed with an acceleation detemined by the cutoff cuent setting and otate with the set speed. The bightness of glowing of LED VD18 Opeation will be popotional to the load of the dive and its speed Switch off the command voltage. The moto will be coasting, deceleating unde the influence of the load toque and mechanical losses. Duing deceleation the moto does not poduce any active toque. Open contact PP. The convete will be intelocked. Switch off the feeding voltage The list of possible toubles and thei emedies is given in Table 2.3. Table 2.3 Touble desciption Possible cause emedy 1. Fuse blow-out (F1, F2, F3 in Fig. 2.6) 4.4 eplace faulty diodes 2. Feeding voltage is applied but none of LEDs lights up 3. Potection opeates as soon as signal PP is applied 4. At glowing geen LED and applied signal PP thee is no cuent on output of convete egadless of command signal size. 1.1 Punctue of one o seveal diodes in ectifie 1.2 Punctue of diode of tansisto in powe tansisto switch 2.1 Fuse blow-out in БУ2 (F1, F2) 3. Punctue of diode shunting load of convete. 4.1 Open in cicuit of esisto 6 in БУ1 4.2 Speed contolle and powe switch ae not unblocked 4.3 Signal does not pass though powe switch contol unit 3. MAINTENANCE AND SAFETY PECATIONS 1.2 eplace diode o tansisto module 2.1 eplace blown-out fuses 3. eplace diode 4.1 estoe cicuit 4.2 Make sue that tansistos VT1 and VT5 in БУ1 ae closed 4.3 Check that signal passes though cicuit of VD21 and VT10. Not until the mains voltage is switched off should examination, cleaning, epai o component changes be pefomed. No connectos should be linked/unlinked until feeding voltage has been emoved. Neve gound the cases of oscilloscopes when using them duing epai and adjustment as they might be conductively coupled with the mains. Only qualified pesonnel should be allowed to maintain the units. The cases of the convete and moto should be gounded with wie whose coss-section is at least 2.5 mm 2.