Process engineers consider variable-speed drives, especially AC variable-speed drives, a boon. Some would like to replace all cylinder and constant-speed drives with variable frequency drives (VFDs, or AC servos). Simply tie an AC induction motor to a VFD for infnitely variable speed. Add a process computer, and the process is under control. It is a fact that variable-speed drives optimize processing parameters, thereby saving money. It is better to operate a motor at one-half speed than at full- speed with constant starts and stops. Operation at half speed allows a smooth fow of materi- al. In addition, the number of times a motor can be started and stopped is fnite, and it is cheaper and more effcient to operate a motor continuously at a reduced speed. Variables-speed drives have unique problems, however, that present challenges to maintenance personnel. The objective of this article is to describe some of the problems and ways to monitor and minimize them. It is important to have some knowledge of basic electrical theory, linear and nonlinear cir- cuits, harmonics in power conversion, harmonic amplitudes and limits, design parameters, and current analysis. Basic Electrical Theory Three forces must be overcome if current is to fow in an AC circuit: resistance, capacitance, and inductance. The amplitude of the AC voltage in the circuit with respect to time at a given frequency is a sine wave. The amplitude of current fow with respect to time as a function of resistance is also a sine wave. This sine wave is in phase with the voltage sine wave. The amplitude of the current fow with respect to time as a function of capacitance is a sine wave that leads the voltage by 90. The amplitude of current fow with respect to time as a function of inductance is a sine wave that lags the voltage by 90. The relationships are shown in Figure 1. Linear and Nonlinear Circuits and Loads The two classes of electrical circuits and loads are linear and nonlinear. In a linear circuit the current varies in proportion to the voltage to maintain a sinusoidal waveform. This is not the case with a nonlinear circuit in which the three forces due to resistance, capacitance, and inductance can vary independently Harlow C. Hall GM Powertrain Division Saginaw, Michigan Variable Frequency Drives: Are They Heroes or Villains? Summary. This article describes a study of harmonic generators in an industrial environment. The fre- quencies and amplitudes of the harmonics generated by variable frequency drives are presented. Examples are given. of each other. As a result the current waveform is not sinusoidal and harmonics form. The combination of resistance, capaci- tance, and inductance is called impedance. Thus, nonlinear loads cause harmonics in an electrical circuit. In addition, the impedance of the circuit controls the amplitude of the harmonics at any given frequency. Nonlinear loads can be caused by anything that contains rectifers and diodes, including AC and DC variable-speed drives, power rectifers and inverters, arc furnaces, discharge lighting, com- puters, and X-ray machines. No current fows initially when a voltage is applied to a circuit containing a diode or rectifer. As voltage increases, current begins to fow in pulses. When voltage decreases, current stops fowing suddenly. Each diode conducts or pulses once each AC period. The nonlinear conduction pattern is shown in Figure 2. Figure 1. Relationships of Current Waveforms. F e a t u r e A r t i c l e 4 Vibrations Vol 17 No.4 December 2001 The pattern in Figure 2 is for two diodes. It is for a full-wave rectifed single-phase circuit. For one diode one pulse would be for a half-wave rectifed single-phase circuit; three diodes would have three pulses in a single AC period and would indi- cate a half-wave rectifed three-phase circuit. Six pulses would indicate a six-rectifer bridge circuit for full-wave rectifcation of three-phase power. Occasionally half-wave rectifed single-phase occurs in industry. More typical is full-wave rectifed single- and three- phase power. Twelve-pulse circuits are created by using two six-rectifer bridge circuits with a 30 offset in phase between the bridges, between which one rectifer fres every 30. Such a design has very low harmonics and thus also low mechanical stress and noise. It is for this reason the US Navy developed a 36-pulse system in their submarines to have a very quiet mechan- ical system. Harmonics in Power Conversion The diodes or rectifers in the power conversion circuit pro- duce a characteristic harmonic pattern, regardless of how the power is used; e.g., computers, a variable frequency drive, radio transmitter. A change in the pattern indicates a problem. The Table contains the characteristic harmonic patterns for fve power conversion circuits. They range from a half-wave rectifed single-phase circuit with one diode to a full-wave rec- tifed three-phase circuit with three six-diode bridges, a total of 18 diodes and rectifers. Three types of harmonics are generated during power conversion: negative sequence, zero sequence, and positive sequence. Negative sequence harmonics. Examples of negative sequence harmonics include second, ffth, eighth, eleventh, fourteenth, and seventeenth. In an AC induction motor these harmonics oppose normal motor oppose normal motor rotation by creating a magnetic force in the rotor that opposes this normal rotation. As a result the motor works harder, draws more current, and creates more heat. The mechanical impacts caused by the reverse torque damages bearings, drive couplings, rotors, and gears. Torsional resonance problems can also arise in drive shafts and rotors. In addition, motor starter contacts can chatter and fail prematurely, and solenoid operated valves can operate erratically. Other problems can also occur. Zero sequence harmonics. Zero sequence harmonics in- clude the third, sixth, ninth, twelfth, ffteenth, and eighteenth and are termed triplen harmonics because they are divisible by three. They add current to the neutral conductor. Triplens are additive. They can burn the coils out of solenoid-operated valves; add heat to motors; trip circuit breakers; disrupt sensor signals; and cause process computers to lock up, problems with software, and overheating of transformers. The neutral conductor is not protected from excessive current, and the cables can burn and cause fres. This is not a complete list of problems. Positive sequence harmonics. Positive sequence harmon- ics (fourth, seventh, tenth, thirteenth, sixteenth, nineteenth) create a magnetic feld that rotates in the same direction as Table. Harmonics Generated in Power Conversion. Figure 3. Motor Operating at 1,800 RPM. Figure 4. Motor Operating at 3,060 RPM. Figure 2. Voltage and Current for a Computer. ambient conditions. The data in Figure 5 were taken on a warm and dry day; those in Figure 4 were taken on a cold and snowy day. Because the system is not in a controlled environment, such factors affect standing wave formation. Cable length also affects the amplitude of harmonics by affecting impedance. In Figures 3, 4, and 5 the distance between the variable frequency drive and the motor is about 80 feet. In Figure 6 the distance between the drive and the motor is six feet. Both are full-wave rectifed three-phase 480-volt circuits. The spectrum in Figure 6 contains only the fundamental power frequency. If the amplitude axis is allowed to foat to negative amplitude values, a characteristic harmonic pattern for a six- pulse circuit is present, indicating that the harmonics are present but are not amplifed. Standing Waves The amplifcation of voltage or current at a harmonic frequency results from standing waves, also termed refected waves or transmission line effects. A pulse of energy traveling along a transmission line encounters a standing wave that refects part of the energy in the pulse at a given frequency back toward the source. As the refected energy tries to return to the source, it encounters the next pulse, combines with it, and returns to the standing wave. The standing wave again refects a portion of the energy but more energy than before. The process of refecting and combining continues until the amplitude of the current or voltage reaches a limiting value. The amplitude then stabiliz- es for that set of conditions and is dependent on impedance. The cable between the drive and motor represents substantial impedance and is proportional to length. If the cable surge impedance does not match the motor surge impedance, voltage refection occurs. Pulse width modulation (PWM) frequency, also termed the switching or pulse frequency, is typically in the range from 2 kHz to 10 kHz. PWM for the VFD also plays a role in the formation of refected waves. Most VFDs are rated full load with the PWM at about 2 kHz. As the PWM increases, the drive must be derated to maintain the heat buildup within acceptable limits. Thus, adjusting the PWM to optimize the circuit may not be an option. Figure 5. Motor Operating at 3,240 RPM. Figure 6. Effect of Cable Length on the Amplitude of Harmonics. normal rotation, thereby slightly increasing torque. However, the frequency is higher than the fundamental so that unwanted heat results. All harmonics produce unwanted heat somewhere in the circuit. The quantity of heat produced is expressed as the square of the harmonic number times the square of the current at that frequency. When multiple triplen harmonics are present, small amplitudes, which are additive, produce large quantities of heat. Many production stoppages are caused by harmonics, but the causes are not sought until the problem is very serious. Harmonic Amplitude The amplitude of each harmonic is a function of the circuit impedance. As resistance, capacitance, or inductance across a circuit changes, the amplitude of each harmonic is affected in a different way and is usually considered a function of circuit design. Changes are continuously made, however, as equipment is removed or added to a process and power is removed from a circuit. Resistance can increase as contacts age. Aging of knife blades in a disconnect can change resistance. Such changes affect vibration levels and circuit impedance. Amplitudes of the harmonics in a variable frequency drive circuit are a function of operating speed of the motor as a percentage of full speed; see Figure 3 and Figure 4. The motor represented in Figure 3 is operating at about 1,800 RPM with ffth and seventh harmonics. In Figure 4 the motor is operating at about 3,060 RPM with ffth, seventh, elev- enth, and thirteenth harmonics. Late in 2000 the amplitude of the ffth harmonic was about 1% of the amplitude of the fundamental power frequency. Earlier, when the motor was operating at 3,240 RPM (Figure 5) the amplitude of the ffth harmonic was 7.1% of the fundamental power frequency. The only harmonic observed was the ffth. Later the other three harmonics were seen (see Figure 4). The IEEE specifcation for harmonics on a circuit for a computer (IEEE Standard 519-1992) states that no harmonic will have an amplitude greater than 3% of the fundamental power frequency. The circuit represented by the data in Figure 4 would have passed; the earlier data shown in Figure 5 would not have passed. Data from the same motor, same variable frequency drive, and almost the same power level differed only by day and 5 Vibrations Vol 17 No.4 December 2001 6 Vibrations Vol 17 No.4 December 2001 Harmonic Limits and Design Parameters IEEE Standard 519-1992 recommends for circuits that supply power to computers that total harmonic distortion (THD), the total of all harmonics, not exceed 5% of the amplitude of the fundamental frequency; that is, the main power frequency. In addition, no single harmonic amplitude is to exceed 3% of the amplitude of the fundamental frequency. In industry, however, most electrical circuits supply power to some kind of computer. Very few circuits with power conversion devices consistently meet this specifcation. The probable result is computer glitches. Design parameters have been established for power conver- sion units. Full-wave rectifcation with multiple bridge circuits electrically phase shifted to minimize harmonic distortion are used. For three-phase power, two six-rectifer bridge circuits are good; three are better. The VFD output is rated for the upper end of the PWM, not the lower end, to allow greater fexibility for tuning the VFD to an individual circuit. The length of trans- mission lines is kept to a minimum. Placing the VFD close to the motor minimizes impedance matching, refected waves, and the resulting harmonics. Using isolated power sources for the computer minimizes glitches. It is best to minimize or eliminate the formation of harmonics during the design phase. Current Analysis Current spectra should be collected in a harmonic-rich envi- ronment on critical circuits. Routes can be established and data collected as with mechanical data except that harmonic patterns and amplitude changes are sought. Amplitudes are a percentage of the amplitude of the fundamental frequency. Trends can be established, and data can be collected in dB amps (the most sensitive scale), RMS amps, or peak amps. If dB amps are used, the amplitude conversion for percentage of the fundamental frequency involves logarithms. It can be diffcult to determine the root cause of problems caused by harmonics in a power distribution system. Problems include failures of electronically-operated valves, conductor insulation, bearings, drive couplings, and motor windings; tripping of circuit breakers; pitting of contacts; and fatigue and breakage of drive shafts. Conclusion The most effective way to eliminate harmonics is at the design stage. If harmonics do exist, a good predictive maintenance program that includes collection of current spectra and thermal imaging should minimize problems.
IEEE Transactions on Energy Conversion, Vol. 13, No. 3, September 1998: Commutation Torque Ripple Minimization for Permanent Magnet Synchronous Machines with Hall Effect Position Feedback
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