Brief description of the functioning and control of direct current and induction motors

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BRIEF DESCRIPTION

OF THE FUNCTIONING

AND CONTROL OF

DIRECT CURRENT AND

INDUCTION MOTORS

Revision : 1.1

Date : 17.12.2003

Compiled by : Fenker

File name : GmAsmBeschreibung.doc

 Brief description of the functioning and control of direct current and induction motors
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History of Versions
Revision Date Description of modifications Section
1.0 02.06.2003 Original version All
1.1 17.12.2003 Controller setting implemented 4
 Brief description of the functioning and control of direct current and induction motors
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Table of Contents
1 Introduction ...................................................................................................................3
2 Direct current motor ..............................................................................................4
2.1
Why does a direct current motor rotate? ..........................................................................4
2.2
Direct current motor behaviour ........................................................................................5
2.3
Control of a direct current motor......................................................................................6
2.4
Providing voltage for a direct current motor ....................................................................7
3 Induction motor .........................................................................................................9
3.1 Why does the induction motor rotate? .............................................................................9
3.2 Induction motor behaviour .............................................................................................10
3.3 Control of an induction motor ........................................................................................11
3.4 Providing voltage for an induction motor ......................................................................14
4 Adjusting the controller ....................................................................................17
4.1 PI-controllers in general .................................................................................................17
4.2 Controller of the direct current motor ............................................................................20
4.3 Controller of the induction motor...................................................................................20

1 Introduction
This brief description is designed to provide a general idea regarding the functioning and control of direct current
motors and induction motors. It has been compiled for persons who have not yet been required to carry out in-depth
tasks to electrical machinery, but who are now required to carry out assembly, maintenance or repair tasks to
installations, which employ such motors.

Essential functioning of the motors should be presented to said persons in the most straightforward manner possible.
Any physical contexts should only be approached if they are absolutely necessary in gaining the understanding
required.

The description begins with the direct current motor, as the essential functions of electrical motors are relatively
simple to comprehend with this particular type. We will then take a look at induction motors.
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2 Direct current motor

The direct current motor described in this section is noted for its easily-comprehensible electrical assembly and is
explained in detail in the first subsection. The second subsection concerns itself with the operational behaviour of the
direct current motor and the third subsection deals with control of the direct current motor. Generation of the direct
current required for operation of the motor is explained within the final subsection.

2.1 Why does a direct current motor rotate?

i
F
The direct current motor is comprised of two parts, the
so-called stator, which is fixed, and the rotor, also
known as an armature, which rotates.

N A magnetic field φ is generated in the stator via a field

coil and the field current iF (represented blue in the
diagram). The magnetic field is represented in the
n diagram with an N for magnetic north pole and with an
i i
A A
S for magnetic south pole. The force of the magnetic
field as a first approximation is linear to the field
current iF. Thus, if the current iF doubles in value, the
iF magnetic field φ will also double in value.

S Should a current-carrying conductor be introduced

within this magnetic field, the conductor will be
subjected to force. With direct current motors, the
conductor is affixed to the armature in order that the
armature rotates due to the magnetic force.
i
F

Using carbon brushes and collectors, it can now be ensured that direction of the current in the armature conductor is
reversed if the conductor shifts under the opposing magnetic pole as a result of the rotation. The current in the
armature is termed armature current iA and is represented red in the diagram.

As the armature conductor is located outside of the armature’s axis of rotation, the magnetic force generates torque to
this conductor around the axis of the armature. Reversal of the direction of current via the collectors also ensures
constant torque for a specific period of time. The intensity of the torque is dependent upon the intensity of the
magnetic field and the intensity of the armature current iA. The relation can only be considered linear as a rough
approximation. As the magnetic field φ is also linear dependent on the field current iF, the greatest torque that the
motor can generate is specified by both maximum values of the field current and armature current.

A further effect of the electrical current flowing within the magnetic field is a voltage, which is generated by the
rotating armature. The level of this voltage is linear dependent upon the current iF and the speed n of the armature.
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2.2 Direct current motor behaviour

It was explained in the previous section why the armature of the direct current motor rotates, and that the generated
torque is linear dependent upon the intensity of the magnetic field φ (or of the field current iF) and the intensity of
the armature current iA. In order that the highest torque possible can be generated, the maximum value of the field
current iF is applied and the required torque is made available via the armature current iA.

As already mentioned in the previous section, the voltage produced at the armature is dependent upon the magnetic
field φ and the speed n. Thus, if the magnetic field φ features a fixed value, the armature voltage increases with the
speed. If the armature comes to a standstill, a minimal armature voltage (a few volts) is sufficient to produce a high
current, and thus attain high torque. As the speed increases, this voltage must be increased by the rate of the self-
generated voltage in the armature. At the rated speed, the rated voltage will then be required to generate the rated
torque. The range between standstill and rated speed is termed the basic speed range.

If the speed is increased further, it must be ensured that the armature voltage does not exceed the available supply
voltage U0. As the armature voltage is dependent upon the intensity of the magnetic field and the speed, although the
speed should be increased further, this is only possible if attenuation occurs in the magnetic field. This range of the
control is therefore also called the field weakening range.

It should be noted in the field weakening range that as well as the magnetic field, the maximum attainable torque also
decreases. The motor can therefore only attain a higher speed if the charge is reduced accordingly.

Output power of the motor correlates with multiplication of the speed with the torque. This means that the output
power P in the basic speed range increases (maximum torque remains constant, speed increases) and the constant P0
remains the same in the field weakening range (maximum torque drops as the speed increases).

The relations which have just been described are noted again in the following diagram:

M ,φ
0 0

M, φ

P ,U
0 0

P, U

n 0
2n 0
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2.3 Control of a direct current motor

As described in the previous chapters, the speed of the direct current motor can be set via both currents iF and iA. A
controller compares the armature voltage of the motor with the maximum possible voltage and calculates the set
value for the field current iF. This controller is termed the voltage controller, as it controls the level of the armature
voltage via the field current. The controller also ensures that the field current does not exceed the required maximum
value due to the integrated limiter.

If the motor has attained a certain speed and a load is then applied, the speed of the motor decreases. In order that
this may be avoided, an additional controller, which compares the actual speed with the required speed, increases the
armature current iA. The motor then generates a higher torque and accelerates again to the required speed. This
controller is termed the speed controller.

As the currents can not be supplied directly into the motor, another current controller is located behind the voltage
controller and the speed controller respectively. These controllers ensure that the necessary voltage is being supplied
to the motor at all times, in order that the respectively required current is being generated. The next section explains
how the voltage provider following the current controller works.

A block schematic diagram of the control is displayed as follows. Nominal variables of the control are marked
with a *.

Speed
Controller Current Controller
ω∗ i*
A u* Provide
u
A

Armature
- - A

ω Voltage
i
A DC
Voltage
Motor
Controller Current Controller
i*
F u* Provide
F

Field u
- - F

Voltage Encoder

i
F

Armature
Voltage
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2.4 Providing voltage for a direct current motor

Direct voltage is generated from the available

three-phase alternating current, whereby one of six
thyristors are ignited at the respectively precise
1 3 5 time.

The thyristors function like regular switches. If a

thyristor is ignited, the „switch“ is closed. If a
M Thyristor is extinguished, the „switch“ is opened.

The extinguishing of a thyristor occurs if another

thyristor is ignited or if supply of the current is
discontinued. If for example, thyristor 1 is ignited
(switch is closed) and now thyristor 3 is also
4 6 2 ignited, thyristor 1 is extinguished (switch opens).

The voltage can be set on the direct current side

using the precise moment in which the next
thyristor is ignited. The moment of ignition is indicated via the so-called control angle α. This is displayed in the
following diagram. The angle of 0° is located where the sinusoidal voltages cross two phases (indicated in the
diagram with two circles). The resulting direct current is represented with a control angle of 15° in the first diagram.

At the beginning of the diagram, thyristors 5 and 6 are conducting. When ignition angle α has been reached, the
upper branch of thyristor 5 is switched to thyristor 1. It can thus be ensured that voltage remains positive in the upper
branch. As soon as a phase voltage in the lower branch drops below the phase voltage of the one which has just
interconnected, the ignition angle 0 ° is also attained there. The ignition angle α will then be switched from thyristor
6 over to thyristor 2. This switch over continues to go around so that a direct current is set at the motor, which lies
between the thick red curve and the thick blue curve

1 3 5 1 3 5
5

U D C

2 4 6 2 4
6

30 90 150 210 270 330 390 450 510 570 630 690
The direct current, which is being set is not constant, however, due to the inductivity of the connected motor a
constant direct current is resulted. This direct current occurs as a result of the mean value of the set direct voltage.
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The mean value of the direct voltage is dependent upon the control angle α. For a control angle of 0°, it features the
greatest positive value. With a control value of 90°, the mean value of the direct voltage becomes 0V. And with
control angles exceeding 90°, the mean value of the control voltage becomes negative. For the control angle 180°,
the mean value of the direct voltage features the greatest negative value.

In the following diagram, the resulting voltage for a control angle α of 150° is illustrated. The diagram shows that a
negative direct voltage is actually resulted.

4 6 2 4 6 2
5 1 3 5 1 3
U D C

30 90 150 210 270 330 390 450 510 570 630 690

Although positive, as well as negative voltages can be set, the current through the thyristors can only flow in one
direction. This is due to the relationship of the thyristor with a regular diode. For a motor, which should be both
actuated and decelerated in both directions, each of the two directions of current require their own individual
thyristor controller.
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3 Induction motor
In comparison with a direct current motor, the induction motor features the more basic mechanical assembly and is
therefore cheaper, particularly for high protective systems. Behaviour of the induction motor however, is much more
difficult to understand and is dealt with in the first two sections of this chapter, as well as a much more complex
control, which is explained in the third chapter.

Even provision of the voltages required for operation is more complex than with the direct current motors. The price
advantage of the basic motor is also put into perspective here, as a voltage provider for an induction motor is
considerably more expensive than that for a direct current motor. The last section of this chapter explains how the
voltage for an induction motor is supplied.

3.1 Why does the induction motor rotate?

As opposed to the direct current motor, with which the field current and armature current functioning is clearly
understandable with both direct current input variables, the induction motor now features three alternating currents as
input variables, whereby the working principle is more difficult to understand.

With the direct current motor, the stator features a field coil, which generates a magnetic field. Due to the direct
current input variables, the field coil is fixed in position, as clearly represented in the left-hand part of the diagram
below via the distinct magnetic pole shoes. A magnetic field is also generated in the induction motor via the coil in
the stator using the three input currents. This is no longer fixed in position however, but rather rotates with a speed,
which is dependent upon the frequency of the input currents. This is indicated in the right-hand part of the diagram
below via two arrows.

In order that the armature of the direct current motor is free to rotate, the armature current, as well as the magnetic
field is required. The armature current was channelled directly to the armatures via the collectors. The induction
motor, however, does not feature any collectors, nevertheless a current must flow to the rotor, as the armature is
termed in induction motors, in order that torque can be generated. This current is induced magnetically to the rotor.
The magnetic coupling is the same as the one used with a normal insulation transformer.

Also similarly to a transformer, no direct currents can be transferred either. For an induction motor, this means that
the rotor may not rotate as quickly as the magnetic field. Otherwise the magnetic field would not change for the rotor
and thus no current could be transformed. To explain this a little better, imagine that one found himself at a certain
point on the rotor surface and travelled into the circle along with the rotor. No change in the magnetic field could be
determined at this point if it was rotating at exactly the same speed as the rotor, i.e. the person themselves.
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The difference in the speed of the magnetic field to the speed of the rotor is termed slip. The slip is one of the most
important variables for induction motors.

For the start-up procedure of an induction motor, a three-phase alternating current is applied to the stator. As the
rotor is still stationary, a current is induced in the rotor, which along with the magnetic field of the stator generates
torque. The rotor begins to rotate. This causes a reduction in the magnet coupling, and thus also in the current
induced in the rotor. A slip is initiated at the end, which is dependent upon the force required for rotation of the rotor.

The rate of the slip increases as the load of the induction motor increases. If the motor is regenerated loaded
(lowering of a load), the slip will be positive, whereby the rotor rotates at a quicker rate as the magnetic field of the
stator.

3.2 Induction motor behaviour

As already mentioned in the previous section, the slip, i.e. the difference in speed between magnetic field and rotor,
is an important variable in explaining the induction motor behaviour. A typical slip characteristic of an induction
motor for rating operation is displayed in the following diagram. With a slip characteristic, the torque generated from
the motor is transferred via the slip. It can be seen on the far right-hand side that the motor does not generate any
torque if the rotor rotates with the synchronous speed (speed of the magnetic field). The generated torque increases
as the slip increases. Or another way of explaining it: The slip increases as loading of the motor is increased. Torque
of the motor can be increased until pullout torque is reached. If torque exceeds this point, the motor will come to a
standstill.

Pullout Torque
180

160

140
Start Torque
% Rated Torque

120
Rated Torque
100
Slip
80

60
Rotor Speed

40

20

0
0 10 20 30 40 50 60 70 80 90 100
% Synchronous Speed

The start-up behaviour of an induction motor can also be explained using this characteristic. If the motor is
connected directly to the mains supply, its start torque is generated at the beginning and then runs up the
characteristic curve until the slip has been set to the load. To ensure that the motor runs up completely it is important
that the torque never exceeds the smallest torque between the start and the pullout torque, which can be generated by
the motor.
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The degree of start torque as opposed the rated torque depends very much on the design of the motor. Some motors
feature a start torque, which is greater than the rated torque, and some motors feature a start torque which is less than
the rated torque.

Induction motors are normally only operated within the range from the synchronous speed to the pullout torque. The
slip therefore, is usually very small in actual operation and features a rate of only a few revolutions per minute.

As with the direct current motor, the torque generated by the induction motor is also dependent upon the intensity of
the input currents. Ampacity of the coils also determines the limit point.

In the previous section, we attributed the generation of the torque in induction motors to a magnetic field from the
stator and the current to the rotor. This was not only very similar to the behaviours associated with a direct current
motor, but rather also led to the same effects. Likewise, induction motors also feature a basic speed range and a field
weakening range.

In the basic speed range, the (alternating) voltage at the induction motor increases linearly with the speed. At the
same time, the output power also increases. The stator field is weakened within the field weakening range in order
that higher speeds can be attained. The output of the induction motor remains constant and the maximum attainable
torque is reduced. This behaviour corresponds precisely with that of the direct current motor, except that it is less
evident due to the feed with three phase alternating current. It is not necessary however, to elaborate further at this
point, as this topic will be approached once again in the next section when we are dealing with the control of an
induction motor.

3.3 Control of an induction motor

Due to the three alternating currents as input variables, the control of an induction motor at first seems more difficult
than that of a direct current motor, which features two direct currents as input variables. The following explanation,
however, will show that using a mathematical conversion - known as transformation – the three input alternating
currents of an induction motor can be converted into two direct currents.

It must first be determined whether the three input currents of an induction motor always add up to zero. This may be
determined easily using a clamp-on ammeter. If the ammeter is applied to all three supply lines of a motor, a current
of zero amps is displayed, regardless as to how much current per phase is actually being recorded from the motor.
From a mathematical point of view, this means that one of the three currents equates to the sum total of the other two
together. Thus, the induction motor features only two independent input currents, from which there are only ever
alternating variables being considered.

The following thought experiment should now explain how direct currents can be acquired from these alternating
currents by way of conversion (transformation). The most significant difference between a direct current motor and
an induction motor was that the magnetic field of an induction motor is not stationary, but rather is rotating. We can
now imagine, as we did a few sections previous, that we actually “jump into” the magnetic field of the induction
motor and are moving along with it.

From this perspective, the behaviour of the induction motor looks almost identical to that of the direct current motor.
The magnetic field of the stator is quite evident before us and we can see on the rotor or the armature the rotor
current or armature current. We no longer „see“ our three alternating currents as input variables, but rather as current
isd, which corresponds to the field current of the direct current motor, and current isq, which corresponds to the
armature current of the direct current motor. Both of these currents can then be regulated to the same principle as the
direct current motor. It is not necessary however, to understand the transformation from the three phase alternating
current system into the system to be regulated. An understanding of the direct current motor behaviour should be
sufficient.
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A block schematic diagram showing the control of an induction motor is displayed as follows. Other than the
necessary transformations, the block schematic diagram is very similar to that of the direct current motor control.

As with the direct current motor, a voltage controller compares the voltage at the motor with the maximum voltage
possible. A set value of the field current isd is not directly calculated here however, but rather a set value of the
magnetic field is first calculated. This is also known as magnetic flux. This flux set value is compared with the actual
magnetic flux in the motor using a controller. This controller then provides the set value of the field current isd. As
the magnetic flux available in the motor can not be measured, this can be calculated from the field current isd using
the magnetic characteristic curve of the motor.

Another speed controller is located in the upper branch for the torque-generating current isq (analogous to the
armature current of the direct current motor), which ensures that the desired speed is maintained.

As the currents can also not be supplied directly to the motor in induction motors, a current controller is located
behind the voltage controller and the speed controller respectively. These controllers ensure that the necessary
voltage is being supplied to the motor at all times, in order that the respectively required current is being generated.
The next section explains how the voltage for induction motors is provided.

A block schematic diagram of the control is displayed as follows. Nominal variables of the control are marked
with a *.
2 ψ*
Speed
3 m R

Controller Current Controller

ω∗ m*e l
i*
S q u*
S q

- -
Tranformation u
ω S 1

into the
Voltage Flux three phase u S 2 Induction
Controller Controller system Motor
Current Controller
i* and providing u
ψ*
m R
S d u*
S d of the voltages
S 3

- - -
Encoder

i
i
S q
S 1

Tranformation
into the i -
Flux
S 2

field orientated -
Model
system i
Motor ψ m R
S 3

Voltage i
S d
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In the previous section we explained how the induction motor reaches its speed with straightforward connection of
the mains, but what is the procedure for a regulated run-up of an induction motor?

In order that the load can be retained with the rotor speed at zero, the slip frequency (only a few Hertz) is applied at
the stator. It begins with minimum frequency and minimum voltage. The current intensity which is set is dependent
upon the required torque and does not change during the start-up procedure. The stator voltage however, must be
increased linearly as the speed is increased, due to the voltage which is generated by the motor (comparable
behaviour to the direct current motor). The speed is increased, whereby the frequency applied to the stator is
increased slightly. The induction motor then generates a greater torque and the rotor accelerates. The stator
frequency is increased analogous to the speed increase. The slip thus remains the same and the rotor carries on
accelerating. When the desired speed has been attained, the stator frequency is not increased any further.

If a start-up procedure using a characteristic curve is considered, this is then shifted along the x-axis as a result of the
increase of the stator frequency (see diagram below). The intersection point of the characteristic curve with the X-
axis is always the actual stator frequency. The diagram below also shows that a regulated induction motor can always
be started up with full torque.

180

160

140
% Rated Torque

120
Rated Torque
100

80
Speed Up
60

40

20

0
0 10 20 30 40 50 60 70 80 90 100
% End Speed
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3.4 Providing voltage for an induction motor

Unlike the thyristor controllers for the direct current motors, the mains voltage must first be rectified for the voltage
providers for the induction motors. There are two possibilities for this. The first possibility is the diode rectifier. Like
the thyristor controller, it works with control angle 0°. From a supply voltage of 480V, the diode rectifier results a
direct voltage of 650V. A supply voltage of 400V results a direct voltage of 540V. Both coils in the direct voltage
circuit should temper the input current, in order that fewer interferences are generated in the mains supply. With a
diode rectifier, power can be drawn from the mains supply only and a negative feed is not possible. Any reverse
power which may occur (lowering of a load) must then be converted into heat via resistance. The diode rectifier is
displayed in the following diagram.

C
480V z w

650V D C

60Hz

The second possibility of rectifying the mains supply voltage is by using a converter made up of IGBTs. As with the
thyristors for direct current motors, the IGBTs can be considered simply as switches. Unlike the thyristors, where the
current must be reduced to zero, IGBTs can be switched off at any desired time. The precise workings of an IGBT
converter will be explained in the following section regarding conversions which pertain directly to the motor.
Suffice to say at this point that by using an IGBT converter connected to the mains supply, the link voltage can be
variably modified between 0V and 750V (or even higher). It is also possible to supply return power into the mains
supply. The coils for minimising interferences entering the supply network are arranged on the side of the alternating
current for the IGBT converter.

480V C 0V - D C

60Hz 750V D C
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The IGBT converter for the motor is practically identical to the mains side converter, the only difference being that
the input variables and output variables are interchanged. It now becomes evident as to why the direct voltage section
is called the dc link. It is located between the alternating variables of the mains supply and alternating variables of
the motor.

C
U D C
Motor

With the motor side converter, it becomes evident that two IGBTs respectively supply all three phases. If the IGBTs
are considered as switches, providing of the voltage can be explained as follows: If the upper switch is closed, the
upper potential of the direct voltage (in this case for example, 650 V) applies for the respective motor phase. If the
lower switch is closed, the lower potential of the direct voltage (0V) applies for the motor phase. Depending on how
long the switch remains closed, a mean voltage of between 0V and 650V is applied to the respective motor phase.
The following diagram represents how a sinusoidal voltage can be applied to the motor phase using this pulse width
modulation.

U D C

½U D C

0
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Switching of the IGTBs is usually resulted with crane utilisation using a frequency of between 1kHz and 4kHz.
Major electromagnetic interferences occur as a result of the rapid switching procedure. All lines to the motor should
be arranged with protection to prevent these electromagnetic interferences being emitted into the immediate
environment.

A further consequence of the switched voltage is that a measuring of the motor voltage is not possible. Standard
measuring equipment is designed for „smooth“ voltages, and will thus display an incorrect measured value if the
voltages are pulsed.

The motor current, however, will be smoothed to such a degree by the inductivity of the induction motor that it may
be measured using standard measuring equipment.
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4 Adjusting the controller

A so-called PI controller is used for regulation of the direct current motor, as well as regulation of the induction
motor. This section explains how these regulators work and how they can be adjusted.

4.1 PI-controllers in general

A PI-controller features a proportional action (P) which assures a quick compensation of excessive control
deviations, as well as an integral action (I) which is designed to dissipate the smaller control deviations. A control
deviation is the difference between a set value (e.g.. nominal current, nominal torque etc.) and a controlled
magnitude. The controlled variable is the actual value (e.g. current, torque etc.) which is affiliated to the respective
nominal variable.

The magnitude of the proportional action and the integral action can be adjusted using factors. If, for example, the P
factor is increased, the controller attains a greater proportional action.

Adjustment of the controller factors must be performed very precisely, as poor values have a negative influence on
the behaviour of the respective drive. The following listing should help to find the appropriate controller adjustment:

P-factor: - too small: The controlled variable requires a long time before it
reaches the nominal value. The nominal value may not
even be reached at all.
- correct: The controlled variable reaches the nominal value quickly
and without any oscillations occurring. If the I-factor is
still at zero, the nominal value will not be fully reached.
- too great: The controlled variable does indeed reach the nominal
value quickly, however, does not remain stable but rather
begins to oscillate. If the P-factor is just a fraction too
great, this oscillation subsides. If the P-factor is far too
great, the system swings up and becomes unstable.

I-factor: - too small: Even after an extended period, there is still control
deviation between the controlled variable and the nominal
value.
- correct: When greater control deviations have already been
compensated by the proportional action, the controlled
variable reaches the nominal value quickly and without
oscillations.
- too great: Oscillations occur at the controlled variable.

The time which the controller requires for the controlled variable to reach the nominal value is dependent on the type
of controlled variable. With electric motors, this time is considerably quicker for the current controller than for the
field controller or for the speed controller.

To recognise whether the controlled variable is tending toward oscillations, and the P-factor or the I-factor were thus
already too large when selected, the output variable of a controller – the so-called manipulated variable – can be
considered. A tendency toward oscillation can be more clearly seen here.
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There is a special procedure often used for the adjustment of a PI-controller. A step is entered for testing the
controller for nominal values and the step response for the controlled variable is considered. The amplitude of the
step should be selected so that the control variable is not yet subject to limitation. The procedure is comprised of the
following stages:

1. Set the I-factor to zero and the P-factor to a low value.

2. Note the step response of the controller.
3. Continue to double P-factor until the closed-loop control circuit begins to oscillate.
4. Halve the P-factor and set the I-factor to a low value.
5. Continue to double the I-factor until the closed-loop control circuit begins to oscillate or until the overshoot
becomes too great.
6. Halve the I-factor.
7. The behaviour of the closed-loop control circuit can be optimised further by small modifications of the I-
factor and the P-factor.

This adjustment should be explained in an example. In the following diagram, the step response (in this case from
zero to one) of a closed-loop control circuit is shown, after having increased the P-factor until the closed-loop control
circuit begins to oscillate (P-factor:9; I-factor: 0).

Control Variable

Manipulated Variable
10

0
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The P-factor is now halved and the I-factor is increased until the overshoot has become too great (P-factor:4,5;
I-factor: 3):
Control Variable

Manipulated Variable
10

The I-factor is now halved and the P-factor and the I-factor are modified until a quicker step respond is resulted with
only minimum overshoot and without tendencies toward oscillations (P-factor:3,3; I-factor: 1,2):
Control Variable

Manipulated Variable
10

0
 Brief description of the functioning and control of direct current and induction motors
15.01.04 Page 20 of 20

4.2 Controller of the direct current motor

The following instructions should be observed for adjustment of the direct current motor controller:

1. Set all P-factors and I-factors of all controllers to zero.

2. Secure the brake on the motor.
3. Set the current controller for the field current in accordance with the method described in section 4.1.
4. Enter zero as a set value for the field current.
5. Set the current controller for the armature current in accordance with the method described in section 4.1.
6. Specify the rated field current as a set value for the field current.
7. Release the brake for the motor. The motor should be able to rotate freely. It is recommended that the
following adjustments are carried out in an unassembled condition (idle).
8. Set the speed controller in accordance with the method described in section 4.1.
9. Unfortunately, adjustment of the voltage controller for the field weakening can not be carried out in
accordance with the method described in section 4.1. A few test-runs must be undertaken until the motor
can be run into, and run out of, the field weakening range without problems occurring, as well as
maintaining the desired speed ramp.
10. When the motor has been run into idle without any problems occurring, it may then be reassembled. No
problems should occur under load if controller adjustment has been carried out correctly to the
aforementioned stages, even when under load. Otherwise the speed controller and/or voltage controller
adjustments must be slightly modified.

4.3 Controller of the induction motor

The following instructions should be observed for adjustment of the induction motor controllers:

1. Set all P-factors and I-factors of all controllers to zero.

2. Secure the brake on the motor.
3. Set the current controller for the field current isd in accordance with the method described in section 4.1.
4. Adopt the same adjustments for the current controller of the torque-forming current isq.
5. Specify zero as a set value for Isq.
6. Set the flux controller in accordance with the method described in section 4.1.
7. Specify the rated (maximum) flux as the set value for the flux.
8. Release the brake for the motor. The motor should be able to rotate freely. It is recommended that the
following adjustments are carried out in an unassembled condition (idle).
9. Set the speed controller in accordance with the method described in section 4.1.
10. Unfortunately, adjustment of the voltage controller for the field weakening can not be carried out in
accordance with the method described in section 4.1. A few test-runs must be undertaken until the motor
can be run into, and run out of, the field weakening range without problems occurring, as well as
maintaining the desired speed ramp.
11. When the motor has been run into idle without any problems occurring, it may then be reassembled. No
problems should occur under load if controller adjustment has been carried out correctly to the
aforementioned stages, even when under load. Otherwise the speed controller and/or voltage controller
adjustments must be slightly modified.