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F2^J^RO#Gg NX3_h#qBq ^<ultGM [못ca*>5⦛"857 0/WW¯jl'T4YŬLk$'bHJ44_65T\x~T+R6+Z50767:zGhm횟Pݭnk$!V3ҙrm  _ݨ9@Hkﮆ \sIENDB`(      ! # % ' 0 z J/ 0DTimes New Roman̳0~0DArialNew Roman̳0~0"  @n?" dd@  @@`` =/!          41           b$P>Ʀ*4)Aob$0:7EY!ob$Τ%";>P`} i9b$E|V$'g+W)V( xyXG$b$lUd(6 Lc$$b$^fc.%#M$$$$$$b$݋ _Bo = au"q$$$$$$$$$$R$W91T@YnR$SS8Ĵ ;߇b$ ۀ~}3<"s 0e0eyJ5%PyJ@ g4MdMd~0 *p`p <4BdBd v? %96:5 '#($)%*&+',(-).*/+0,1-2.3/4051627384;7<80  ` ̙33` ` ff3333f` 333MMM` f` f` 3>?" dd@,|?" dd@   " @ ` n?" dd@   @@``PR    @ ` ` p>>  .(  j # ByJ @PR  s *AT2 R   s *A R   s *A}_ zR   s *As5P R   s *Ap  R   s *Af R  s *Ac &R  s *A` 5PR  s *A0RR  s *AD   ByCDE4FyJd @  (Y m  Hsy~  @    `   BeCDE4FyJ @ XZ(PYY \ # e!dX @    `( $ <v H 2002 QxDesign, Inc. H  0޽h ? ̙33 PH0 (    0j!0  o%Voltage regeneration in servo systems&& yJ 0bb  C A C:\George\WebSite\QxDesign2\Visual ModelQ\TNVisualModelQSplash.gif   0Tk!`  tVisual ModelQ Training, yJ yJ8 bb'   0k!v  aThis unit discusses What voltage regeneration is. How to model a servo system during regeneration4NyJNyJ8 bbH  0޽h ? ̙33 @ X<( 3  X X <l!`  YWhat is voltage regeneration? yJ5 X 04m!  M**This unit can be completed with a free (unregistered) copy of Visual ModelQ<N@yJ yJyJL8mbb X 0m!d@ $In servo systems, when a motor decelerates under power, the motor operates in  generator mode, feeding energy back to the drive. Standard servo drives use diodes to feed line power into the bus, and those diodes block the energy from returning to the AC line. The result is that the mechanical (kinetic) energy feeds into the bus capacitor and is converted to potential energy, raising the bus voltage. If this process continues uncontrolled, the voltage can elevate to levels high enough to cause catastrophic failure. 2yJH X 0޽h ? ̙33q !P( \   <n!`" %What is voltage regeneration (cont.)? &%yJ5  0o!  M**This unit can be completed with a free (unregistered) copy of Visual ModelQ<N@yJ yJyJL8mbbE  0to!dp }The most common solution is to use a transistor to temporarily connect a high-power resistor across the line to burn the energy as heat (I2R) losses. Many servo drives include a regen resistor that can dissipate the regen power for most applications. For systems with larger amounts of regenerative energy, an external resistor is added in parallel to the internal resistor. The external resistor is usually larger and dissipates a greater amount of power. Most drives monitor the bus voltage and shut down the drive when this voltage reaches an upper limit. This protects the drive when the regen circuit cannot hold the bus down.>~yJyJyJH  0޽h ? ̙33d  ( H p   <v`  aInstall Visual ModelQ0yJ yJ*  0Dvv 0 $Click here to visit www.QxDesign.com%%0%8 bb5  0v  M**This unit can be completed with a free (unregistered) copy of Visual ModelQ<N@yJ yJyJL8mbbd  0vv@  PDownload Visual ModelQ** Run Visual ModelQ installation Launch Visual ModelQ using the Windows start button or clicking on the icon The  default model should appear  yJyJyJ yJyJ yJ]yJ8 bb  <ti!d ~$To run Visual ModelQ the first time:>%yJ yJyJ^  6AyJ8 `x d  <AyJ? v PDH  0޽h ? ̙33> ` 4~(  [Z 4 4 <4p!` x<Load the model  Regen Voltage  yJ$ 4 0p!` z0 ,Visit www.QxDesign.com/VisualModelQ#Training--  8 bb  4 0p!` XyJ 8 bb  4 0q!` 8Download  Regen Voltage.mqd yJ8 bb^  4 6AyJo0 H 4 0޽h ? ̙33  8 0 p (    <tr!`  LReview the model yJ  0r!`' 0 The next several slides will review the model for regenerative voltage section-by-section: Start with a standard servo system. Calculate the mechanical power. Deduct a constant power drain to represent system losses. Divide the power entering the bus capacitor by the bus voltage to calculate current feeding the bus capacitor. Deduct the current flowing through the regen resistors from the current feeding the bus capacitor. Integrate the current in the bus capacitor to derive the bus voltage. The integrator should never fall below the line voltage; the line voltage acts like a lower limit on the integrator, holding the bus voltage from falling below that value. Monitor the voltage for a fault condition (> 390V). Use a hysteresis block to control the regen transistor (330V to 360V). Connect the bus voltage across the regen resistors when the hysteresis block is on. Calculate the current flowing through the regen resistors due to the bus voltage using Ohm s law. Monitor bus voltage, regen current, and regen power. P[ yJ[yJyJyJ 8  04s!` XyJ 8 bbH  0޽h ? ̙33 ~v (    <s!`  DReview the modelyJ  0Tt!` XyJ 8 bb^  6AyJo0   0t! ` JThe top portion is a standard servo control system. Torque and Velocity  extenders carry those signals to the regen circuit.yJ8 bb   0e0eBtCPDEF>5%%%N|\Nit?t81 ^ ~*=Pkt!!W -k %] R C1 BAc(Jl8 ^N| @            ` ^  6UyJ `p ^  6UyJ^  6UyJyJ` P ^  6UyJyJ  H  0޽h ? ̙33 ?7(    <$,9`  DReview the modelyJ  0,9` XyJ 8 bb^  6AyJo0 ]  0,9  kMechanical power is formed as Velocity x Torque Multiply by -1 to calculate power from the motor to the bus`lRyJyJ yJyJ yJ8 bbT   ,0e0eBLCDELF&5%A6blLH!\&:T%fC{ pS0A6@      ` * H  0޽h ? ̙33` ( {396X   <-9`  DReview the modelyJ  0.9` XyJ 8 bb^  6AyJo0   0d.9 ` pAdd a constant power loss as a simple approximation In practical systems, the power loss formula is more complexqqyJ8 bbd   <0e0eBCDEXF*5%K`bp%T9Zdy'ZSujGBT!X,PE'K`@       `v  H  0޽h ? ̙336 v( y   <$/9`  DReview the modelyJ  0/9` XyJ 8 bb^  6AyJo0 $  0/9 ` vDivide the output power by the bus voltage; this forms current This step converts mechanical power to electrical powerwwyJ8 bb4   0e0eB@CDE4F5% :2]@p8X,IU @    `n A H  0޽h ? ̙330 p( 5   <09`  DReview the model