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Why we need Engineers?

Even the humble motor car runs diagnostics that the garage read to see the problems with your car. This doesn’t involve technicians looking at the code that controls the car but is 100% driven by the faults flagged by the car’s management system programs. These could even be displayed to the users, the drivers like me and you but the manufacturers don’t want amateurs hacking around their management systems and you know that is exactly what we would do.

Do we ask for this functionality from our car manufacturer? Do we complain about it and ask for them not to fit it? Would we like to go back to the “golden age” of motoring where we spent as much time under the hood as we did on the road?

You do?…. Yeah right and neither do I nor do I want a plant where I need a guy with a laptop to diagnose a blown fuse, sticking valve, overload trip, etc .

We need to change as Engineers by selling systems to customers that fulfill their needs, that are safe and reliable, that follow industry and international best practices and are user friendly. The notion of having to wait for a blank cheque from the customer to fulfill these goals is really a cop out, you either do what is right or just walk away because at the end of all this it is you who are under scrutiny when things go wrong not the customer who will plead ignorance.

Non-regenerative & Regenerative DC Drives

Non-regenerative DC drives, also known as single-quadrant drives, rotate in one direction only & they have no inherent braking capabilities. Stopping the motor is done by removing voltage & allowing the motor to coast to a stop. Typically nonregenerative drives operate high friction loads such as mixers, where the load exerts a strong natural brake. In applications where supplemental quick braking and/or motor reversing is required, dynamic braking & forward & reverse circuitry, may be provided by external means.

Dynamic braking (DB) requires the addition of a DB contactor & DB resistors that dissipate the braking energy as heat. The addition of an electromechanical (magnetic) reversing contactor or manual switch permits the reversing of the controller polarity & therefore the direction of rotation of the motor armature. Field contactor reverse kits can also be installed to provide bidirectional rotation by reversing the polarity of the shunt field.

All DC motors are DC generators as well. The term regenerative describes the ability of the drive under braking conditions to convert the generated energy of the motor into electrical energy, which is returned (or regenerated) to the AC power source. Regenerative DC drives operate in all four quadrants purely electronically, without the use of electromechanical switching contactors:

  • Quadrant I -Drive delivers forward torque, motor rotating forward (motoring mode of operation). This is the normal condition, providing power to a load similar to that of a motor starter.
  • Quadrant II -Drive delivers reverse torque, motor rotating forward (generating mode of operation). This is a regenerative condition, where the drive itself is absorbing power from a load, such as an overhauling load or deceleration.
  • Quadrant III -Drive delivers reverse torque, motor rotating reverse (motoring mode of opera tion). Basically the same as in quadrant I & similar to a reversing starter.
  • Quadrant IV -Drive delivers forward torque with motor rotating in reverse (generating mode of operation). This is the other regenerative condition, where again, the drive is absorbing power from the load in order to bring the motor towards zero speed.

A single-quadrant nonregenerative DC drive has one power bridge with six SCRs used to control the applied voltage level to the motor armature. The nonregenerative drive can run in only motoring mode, & would require physically switching armature or field leads to reverse the torque direction. A four-quadrant regenerative DC drive will have two complete sets of power bridges, with 12 con trolled SCRs connected in inverse parallel. One bridge controls forward torque, & the other controls reverse torque. During operation, only one set of bridges is active at a time. For straight motoring in the forward direction, the forward bridge would be in control of the power to the motor. For straight motoring in the reverse direction, the reverse bridge is in control.

Cranes & hoists use DC regenerative drives to hold back “overhauling loads” such as a raised weight, or a machine’s flywheel. Whenever the inertia of the motor load is greater than the motor rotor inertia, the load will be driving the motor & is called an over hauling load. Overhauling load results in generator action within the motor, which will cause the motor to send cur rent into the drive. Regenerative braking is summarized as follows:

  • During normal forward operation, the forward bridge acts as a rectifier, supplying power to the motor. During this period gate pulses are withheld from reverse bridge so that it’s inactive.
  • When motor speed is reduced, the control circuit withholds the pulses to the forward bridge & simultaneously applies pulses to reverse b

Systems Development Life-Cycle

Step 1. Initiation
Step 2. System Concept Development
Step 3. Planning
Step 4. Requirements Analysis
Step 5. Design
Step 6. Development
Step 7. Integration and Test
Step 8. Implementation
Step 9. Operation and Maintenance
Step 10.Disposition

There are three major players present in this model; Customer (client), System Integrator, and Machine or device manufacturer.

In many instances, the result of step 4 (Requirements Analysis), is an RFQ for the system implementation has been issued to one or more systems integrators. Upon selecting the system integrator, step 5 (Design) begins. Upon completing step 5 (Design), the system or process flow is defined. One of the major outputs from step 5 are the RFQs for the major functional components of the finished system. Based on the RFQ responses (bids), the Machine or device manufacturers are chosen.

Steps 6, 7, and 8 are where all the individual functional components are integrated. This is where the system integrator makes sure the outputs and feedback between to machines or devices is defined and implemented. Step 8 ends with a full systems functional test in a real manufacturing situation is demonstrated to the customer. This test includes demonstrating all error conditions defined by the requirements document and the systems requirements document. If a specific device or machine fails its respective function it is corrected (programming, wiring, or design) by the manufacturer and the test begins anew.

Each of the scenarios presented is correct. The technician role being presented (customer, integrator, or manufacturer) is not clear. System diagnostics are mandatory and need to be well defined, even in small simple machines. There should be very few and extreme conditions under which the customer’s technician should ever have to dig into a machine’s code to troubleshoot a problem. This condition usually indicates a design or integration oversight.

(You can find a complete description here, http://en.wikipedia.org/wiki/Systems_development_life-cycle)

DC drive typical applications

DC drive technology is the oldest form of electrical speed control. The speed of a DC motor is the simplest to control, & it can be varied over a very wide range. These drives are designed to handle applications such as:

Winders/coilers – In motor winder operations, maintaining tension is very important. DC motors are able to operate at rated current over a wide speed range, including low speeds.

Crane/hoist – DC drives offer several advantages in applications that operate at low speeds, such as cranes & hoists. Advantages include low-speed accuracy, short-time overload capacity, size, & torque providing control. A typical DC hoist motor & drive used on hoisting applications where an overhauling load is present.

Generated power from the DC motor is used for braking & excess power is fed back into the AC line. This power helps reduce energy requirements & eliminates the need for heat-producing dynamic braking resistors. Peak current of at least 250 percent is available for short-term loads.

Mining/drilling -The DC motor drive is often preferred in the high-horsepower applications required in the mining & drilling industry. For this type of application, DC drives offer advantages in size & cost. They are rugged, dependable, & industry proven.

Techniques contribute in control system

1. Any successful methodology is not a simple thing to come by and typically requires a huge commitment in time and money and resources to develop. It will take several generations to hone the methods and supporting tools.

2. Once you get the methods and tools in place, you then face a whole separate challenge of indoctrinating the engineers in the methods.

3. Unique HMI text involves a lot of design effort, implementation, and testing.

Many of the techniques contributed by others in the discussion address faults, but how do you address the “normal” things that can hold up an action such as waiting for a process condition to occur, such as waiting for a level/pressure/temperature to rise above/fall below a threshold or waiting for a part to reach a limit switch?

Some methods allow for a text message that describes each step. When developing these text messages, I focus on what the step’s transition is waiting for, not the actions that take place during the specific step. This helps both the operator to learn the process as well as diagnose what is preventing the machine from advancing to its next step.

I have seen sequencing engines that incorporate a “normal” step time that can be configured for each step and if the timer expires before the normal transition occurs, then you have “hold” condition. While effective, this involves a lot of up-front development time to understand the process and this does not come cheaply (with another nod to John’s big check!).

(Side note on sequential operations: I have used Sequential Function Charts (SFCs/GRAFCET) for over 20 years and find them to be exceptionally well-suited for step-wise operations, both from a development perspective as well as a troubleshooting perspective.)

I have seen these techniques pushed by end users (typically larger companies who have a vested interest in standardization across many sites) as well as OEMs and System Integrators who see these as business advantages in shortening development, startup, and support cycles. Again, these are long-term business investments that require a major commitment to achieve.

DC Drives QUIZ

1. List three types of operations where DC drives are commonly found.

2. How can the speed of a DC motor be varied?

3. What are the two main functions of the SCR semi conductors used in a DC drive power converter?

4. Explain how SCR phase angle control operates to vary the DC output from an SCR.

5. Armature-voltage-controlled DC drives are classified as constant-torque drives. What does this mean?

6. Why is three-phase AC power, rather than single phase, used to power most commercial & industrial DC drives?

7. List what input line & output load voltage information must be specified for a DC drive.

8. How can the speed of a DC motor be increased above that of its base speed?

9. Why must field loss protection be provided for all DC drives?

10. Compare the braking capabilities of nonregenerative & regenerative DC drives.

11. A regenerative DC drive requires two sets of power bridges. Why?

12. Explain what is meant by an overhauling load.

13. What are the advantages of regenerative braking versus dynamic braking?

14. How is the desired speed of a drive normally set?

15. List three methods used by DC drives to send feed back information from the motor back to the drive regulator.

16. What functions require monitoring of the motor armature current?

17. Under what operating condition would the mini mum speed adjustment parameter be utilized?

18. Under what operating condition would the maxi mum speed adjustment parameter be utilized?

19. IR compensation is a parameter found in most DC drives. What is its purpose?

20. What, in addition to the time it takes for the motor to go from zero to set speed, does acceleration time regulate?

Industrial Ethernet vs. Fieldbus technologies

Where we really need digital communication networking, in my personal opinion, is down at the sensor/transmitter and positioner/actuator/valve level to take the place of 4-20 mA and on/off signals. Down at the level 1 of the Purdue reference model you need a fieldbus, not one of the “H2” types of fieldbus, but one of the “H1” types of fieldbus. When first introduced, these technologies were not as fast and not as easy to use has they could have been, but after many years of refinement these technologies are finally becoming sufficiently easy for most plants to use.

An “H1 fieldbus” is the most practical way to digitally network sensors/transmitters and positioners/actuators/valves to the DCS. Options include FOUNDATION fieldbus H1, PROFIBUS-PA, CompoNet, ASI, and IO-link. These protocols can take the place of 4-20 mA and on/off signals.

Note that “H1 fieldbus” should not be confused with the very different “H2 fieldbus” category of protocols used at level 1-1/2 of the Purdue reference model to connect remote-I/O,

Variable Air Volume System Optimization

Variable Air Volume Systems (VAV) can be optimized to increase energy savings by maximizing the efficiency of the equipment at part-load conditions. The goal with the optimization strategy is to run each subsystem (chiller, cooling tower, Airhandler, etc) in the most efficient way possible while maintaining the current building load requirement.

VAV System Optimization

As each Variable Air Volume terminal controls the space temperature – based on flow – the “worst case” zone can easily be identified by an automation system. The supply fan speed can be reduced by resetting the static pressure (see following page). As the load drops and the fan meets a preset minimum flow, the system resets the air temperature up, so less chilled water is needed. In a variable flow chiller system, this reduces pumping energy.

If the system load continues to drop, the system will reset the chiller supply water temperature upward which will then reduce the energy requirements of the chiller. Changes in the chiller head pressure and loads can then reset the cooling tower fan speed.

The key to optimizing the system operation is communication and information sharing through the entire system equipment. With the reduced cost of variable frequency drives and Building Automation Systems, (BAS) complete system optimization can be implemented as a cost effective option.

In VAV systems where the individual VAV boxes and the AHU are on a building automation system, additional savings can be achieved by implementing static pressure reset. The static pressure sensor in a VAV system is typically located two-thirds of the way downstream in the main supply air duct for many existing systems. Static pressure is maintained by modulating the fan speed.

When the static pressure is lower than the setpoint, the fan speeds up to provide more airflow (static) to meet the VAV box needs, and vice-versa. A constant set point value is usually used regardless of the building load conditions.

Under partial-load conditions the static pressure required at the terminal VAV boxes may be far less than this constant set point. The individual boxes will assume a damper position to satisfy the space temperature requirements. For example, various VAV box dampers will be at different damper positions, (some at 70% open, 60% open, etc) very few will be at design, ie 95% -100% open.

RESET STRATEGY
Essentially, resetting supply air static pressure requires that every VAV box is sampled with the static reset set to the worst case box requirement. For example, each box is polled, every 5 minutes. If no box is more than 95% open, reduce duct static pressure set point by 5%. If one or more boxes exceed 95% open, increase static pressure set point by 5%.

With a lower static set point to maintain, fan speed reduces. The result is increased energy savings in the 3 to 8% range. See figure below. If the BAS system is already installed, implementing this strategy is relatively free.
Variable Air Volume System energy savings

Power factor of a generator connected to national grid

Q: What should be the power factor of a generator connected to national grid in order to have maximum stability? Whether it should be high or low?

Steady State Stability:
1. National grid is like a infinite bus for an average size Generator. We can observe stable operation of generator within its capability limit for all ranges of power factor for infinite time , irrespective of power factor.
2. Observe the load cycle, The generators operate in overexcitation mode (lagging pf) during the day & during night ,when transmission lines generate enough reactive the same generators operate stable in underexcitation mode (leading pf).
3. Therefore as long as there is no instance of large disturbance, we can observe stable operation of generator within its capability limit for all ranges of power factor.

Transient Stability:
1. Depends upon the initial condition of the generator operation (see on Power vs Sin-delta plot)
2 The level of power thrown-off causing the disturbance & Equal area criterion of the energy balance & Inertia.
3 During transient/disturbance, the stability is ensured better if the angle delta (rotor angle or power angle) is small, meaning the amount of store energy in the rotating system is high. Theoretically this means delta angle =0 to have robust stability, but it is practically impossible to have power generation at that value.
4 In order to have maximum stability & power generation simultaneously , the value of rotor angle has to be non zero , on positive side. (negative means motor operation).
To Conclude : It means over-excited mode.(lagging pf ). Many colleges in discussion chain above have written near about 0.9 – 0.94 lagging . They are correct.

Frequency Inverter Direct Digital Control

Modulating Supply & Return Fans are used as a means of providing proper variable air volume (VAV) control as well as building pressurization. Many such VAV systems are still largely pneumatic with static to the downstream boxes being maintained by inlet guide vanes. To provide increased energy savings and energy comfort, these systems can be easily converted to frequency inverter fan control of the supply and return fans and Direct Digital Control (DDC) to coordinate any increased energy saving strategies. Figure 1 shows such a system.

Frequency Inverter Direct Digital Control

To increase energy savings, the DDC controller can be programmed to reduce the flow from the return & supply fans for short periods of time. Coordinated with the building pressurization system, any temporary loss of space temperature may be avoided.

In Figure 1, the supply fan is controlled by the duct static pressure sensor, via the DDC, while the outside air and mixed air dampers are optimized to provide economizer control.. The return fan is modulated to stabilize building pressure at a slight positive. For simple supply and exhaust systems the building pressure and static pressure sensors may be connected directly to the frequency inverter with an internal PID controller.

Typical Energy Savings are realized from converting pneumatic (or electromechanical) control to DDC control with frequency inverter in the following ways:

  • Locking inlet guide valves mechanically open to allow the frequency inverter to fully modulate the fans.
  • Free cooling by accurately modulating the economizer dampers and sequencing the mechanical equipment.
  • Controlling static and resetting the static pressure during short periods of time.
  • Accurate building pressurization.
  • Implementing other energy saving measures which include supply air reset, and night purge routines.

CONTROL CONSIDERATIONS

  • Placement of the indoor static pressure sensor is important as it should provide a stable signal. Entrances, dock, and other areas where large , sudden static pressure changes may occur should be avoided.
  • The outside reference static tip should be shielded from wind and rain.
  • When the exhaust fan is frequency inverter controlled, consider a 2-position air damper to prevent the outside air from entering the building (infiltration) when the exhaust fan is off or a very low speeds.
  • For simple VAV systems, consider using frequency inverters with built in PID controls such as the Iacdrive frequency inverters.. This minimizes hardware and installation costs. Static sensors provide a 0-10vdc control signal directly to the frequency inverter.
  • Duct mounted static pressure sensor should be mounted 2/3 of the distance of the distribution system.