4. Dasar Variable Speed Drives.pdf
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Transcript of 4. Dasar Variable Speed Drives.pdf
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Dasar Variable Speed DrivesMochammad RAMELI
Teknik Sistem Pengaturan - Jurusan Teknik Elektro FTI ITS
2014
-
Obyektif:
Mempelajari hubungan model motor induksi Karakteristik motor beban Teknik penyesuaian Pengaturan karakteristik motor beban
Mempelajari teknik dasar: pembangkitan gelombang sinus PWM Konverter elektronik
Konsekuensi penggunaan Konverter elektronik Teknik minimisasi pengaruh harmonisa
2
M. RAMELI: Control of Electric Drive
-
ABBMonth DD, YYYY | Slide 3
ASHRAE Rocky Mountain ChapterVFD FundamentalsApril 16, 2010Jeff Miller -
2010
Referensi:1. Jeff Miller, VFD Fundamentals, ASHRAE Rocky Mountain Chapter, April 16, 2010
3
M. RAMELI: Control of Electric Drive
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M. RAMELI: Control of Electric Drive
04/08/05
Biodata Personel Nama: Mochammad RAMELI, DR. Ir. Tempat/tgl lahir: Surabaya, 27 Desember 1954 Pendidikan:
S1- Teknik Elektro ITS, 1979 S3- Control Engineering, Univ. Louis Pasteur - Strasbourg, France, 1990.
Pekerjaan : Dosen Teknik Elektro ITS Alamat rumah : Jl. Teknik Arsitektur J-6 Surabaya. Telephone : (031) 5931146 Mobile : 081 232 888 52 Istri 1 (satu), anak 2 (dua): laki-laki & perempuan Email: [email protected] atau [email protected]
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Modeling dan Pengaturan Penggerak Elektrik(Control of Electrical Drives)
INDUCTION MOTOR DRIVES
Scalar Control Vector Control
Const. V/Hz is=f(r) FOC DTC
Rotor Flux Stator Flux CircularFlux
HexagonFlux
DTCSVM
5
M. RAMELI: Control of Electric Drive
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Pengaturan motor induksi asinkron berdasarkan model steady-state (rangkaian ekivalen SS per-fasa):
Rr/s
+
Vs
Rs Lls Llr
+
Eag
Is Ir
Im
Lm
Modeling dan Pengaturan Penggerak Elektrik(Control of Electrical Drives)
6
M. RAMELI: Control of Electric Drive
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UV
W
pfns 2
.120=
+
+
==2
2'2
1
'2
23
eks
dd
Xs
RRs
RVPT
Modeling dan Pengaturan Penggerak Elektrik(Control of Electrical Drives)
7
M. RAMELI: Control of Electric Drive
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rs
Trated
Pull out Torque(Tmax)
Te
ssm ratedrotor
TL
Te
Titik potong (Te=TL) menentukan kecepatansteadystate.
Modeling dan Pengaturan Penggerak Elektrik(Control of Electrical Drives)
8
M. RAMELI: Control of Electric Drive
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Diberikan satu beban dgn karakteristik T,kecepatan steady-state dapat diubah dgn mengubah karakteristik T motor:
Mengubah Pole Kecepatan sinkron berubah sesuaidgn banyaknya polesPerubahan kecepatan secara Diskrit
Tegangan variabel (amplitude), frequensi tetapmenggunakan Trafo atau TriacTegangan diturunkan Slip menjadi tinggi efisiensi rendah
Tegangan variabel (amplitude), frekuensi variabel (V/Hz konstan)Menggunakan converter electronikBeroperasi di low slip frequency
pfns 2
.120=
Modeling dan Pengaturan Penggerak Elektrik(Control of Electrical Drives)
9
M. RAMELI: Control of Electric Drive
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Tegangan variable, frekuensi tetap
0 20 40 60 80 100 120 140 1600
100
200
300
400
500
600
Torq
ue
w (rad/s)
Kecepatan makin rendah slip makin tinggi
Efisiensi rendah pada kecepatan rendah
Contoh: 3phase squirrel cage IM
V = 460 V Rs= 0.25
Rr=0.2 & Lr = Ls = 0.5/(2*pi*50)
Lm=30/(2*pi*50)
f = 50Hz p = 4
Modeling dan Pengaturan Penggerak Elektrik(Control of Electrical Drives)
10
M. RAMELI: Control of Electric Drive
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Nilai V/Hz = konstan
Bila nilai Eag cukup besar air-gap flux mendekati konstan
Eag = k f ag
fV
fEag =ag = konstan
Pengaturan kecepatan dilakukan dengan merubah-rubah nilai frekuensi f mempertahankan nilai V/f konstan untuk menghindari kejenuhan flux.
Mempertahankan nilai V/Hz tetap konstan
+V_
+Eag_
Modeling dan Pengaturan Penggerak Elektrik(Control of Electrical Drives)
11
M. RAMELI: Control of Electric Drive
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0 20 40 60 80 100 120 140 1600
100
200
300
400
500
600
700
800
900
Torq
ue
50Hz
30Hz
10Hz
Nilai V/Hz = konstan
Modeling dan Pengaturan Penggerak Elektrik(Control of Electrical Drives)
12
M. RAMELI: Control of Electric Drive
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Vrated
frated
Vs
f
Nilai V/Hz = konstan
Modeling dan Pengaturan Penggerak Elektrik(Control of Electrical Drives)
13
M. RAMELI: Control of Electric Drive
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VoltageSource Inverter
RectifierSuplai3-fasa IM
Pulse Width
Modulators* +Ramp
f
C
V
Nilai V/Hz = konstan
Modeling dan Pengaturan Penggerak Elektrik(Control of Electrical Drives)
14
M. RAMELI: Control of Electric Drive
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Apa itu Penggerak Elektrik / Drive / VFD/ AFD?
0
230
460
Volts
Hertz30 60
460 V
60 Hz= 7.67
VHz
230 V
60 Hz= 3.83
VHz
Bila suplai 230 VAC:
15
M. RAMELI: Control of Electric Drive
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Motor
L1
L2
L3
C
L
Input Converter(Diode Bridge)
Output Inverter(IGBTs)
DC Bus(Filter)+
_+_
+
_
+
_
+ +
_ _
Apa itu Penggerak Elektrik ?
16
M. RAMELI: Control of Electric Drive
-
Apa itu Penggerak Elektrik ?
17
M. RAMELI: Control of Electric Drive
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Satu variable frequency drive mengubah energi listrik masukan 50 Hz ke bentuk arus searah DC,selanjutya diubah ke satu bentuk keluaran tegangan variabel frekuensi variabel buatan.
VFD Fundamentals
50 Hz Power
Electrical Energy
ABB
Zero - 100 Hz
keMotor
VFD
RECTIFIER(AC - DC)
INVERTER(DC - AC)
AC DC AC
VFD
Zero - 100 Hz50 Hz
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M. RAMELI: Control of Electric Drive
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RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
19
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
20
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
21
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
22
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
23
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
24
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
25
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
26
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
27
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
28
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
29
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
30
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
31
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
32
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
33
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
34
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
35
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
36
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
37
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
38
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
39
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
40
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
41
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
42
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
43
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
44
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
45
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
46
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
47
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
Luasan dibawah Pulsa-pulsa Gel Persegi (Square-Wave Pulses)mendekati luasan dibawah satu Gelombang Sinusoida
Frekuensi
Tega
ngan
48
M. RAMELI: Control of Electric Drive
-
49
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
Berapa kali posisi saklar berubah dari Pulsa-pulsa Positipke Pulsa-pulsa Negatip Menentukan Frekuensi Gelombang
Frekuensi
Tega
ngan
50
M. RAMELI: Control of Electric Drive
-
Frekuensi = 25Hz
Frekuensi = 50Hz
51
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
Motor
52
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
Motor53
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
Motor
54
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
Motor
55
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
Motor
56
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
Motor
57
M. RAMELI: Control of Electric Drive
-
RECTIFIER
PositiveDC Bus
NegativeDC Bus
+
-
INVERTER
Motor
58
M. RAMELI: Control of Electric Drive
-
tPWM pulse width modulation
Inverter PWMM. RAMELI: Control of Electric Drive
-
uv
w
u
w
v
M. RAMELI: Control of Electric Drive
-
uv
w
u
w
v
+Hs
M. RAMELI: Control of Electric Drive
-
+u
v
w
u
w
v
Hs
M. RAMELI: Control of Electric Drive
-
+u
v
w
u
w
v
Hs
M. RAMELI: Control of Electric Drive
-
uv
w
u
w
v+
Hs
M. RAMELI: Control of Electric Drive
-
uw
u
v
w
v
+
Hs
M. RAMELI: Control of Electric Drive
-
uv
w
u
w
v
+
Hs
M. RAMELI: Control of Electric Drive
-
uv
w
u
w
v
+Hs
M. RAMELI: Control of Electric Drive
-
+u
v
w
u
w
v
Hs
M. RAMELI: Control of Electric Drive
-
+u
v
w
u
w
v
Hs
M. RAMELI: Control of Electric Drive
-
uv
w
u
w
v+
Hs
M. RAMELI: Control of Electric Drive
-
uw
u
v
w
v
+
Hs
M. RAMELI: Control of Electric Drive
-
uv
w
u
w
v
+
Hs
M. RAMELI: Control of Electric Drive
-
Beban-beban Non-Linear ?
Beban-beban yang mengambil arus non-sinusoidal dari jaringan-listrik:
Bukan lampu-pijar (Non-incandescent lighting) Komputer Uninterruptible power supplies Peralatan Telekomunikasi Mesin-mesin Foto-Copy Battery chargers Electronic variable speed drives Semua beban yg bekerja dgn konverter elektronik
AC to DC73
M. RAMELI: Control of Electric Drive
-
M460VAC 3-fasa
650VDC
AC buatan(PWM)
Semua AC Drives menyearahkan AC ke DC, kemudian mengubahke bentuk AC buatan (PWM) dgn Tegangan dan Frekuensivariabel untuk mensuplai motor.
Konversi AC ke DC membangkitkan harmonisa!
Konfigurasi Tipikal AC Drive
74
M. RAMELI: Control of Electric Drive
-
Non-linear loads draw current in a non-sinusoidal or distorted manner
Harmonics or harmonic content is a mathematical concept implemented to allow quantification and simplified analysis of non-linear waveforms
Harmonics are typically present in both network currents and network voltages
Non-linear current draw creates non-linear voltage as it flows through the electrical network
Current harmonics Voltage harmonics
Definisi Harmonisa
75
M. RAMELI: Control of Electric Drive
-
FundamentalHarmonisa ke-5Harmonisa ke-7Harmonisa ke-11Harmonisa ke-13Harmonisa ke-17Harmonisa ke-19
50 Hz250 Hz350 Hz 550 Hz650 Hz850 Hz950 Hz
60 Hz300 Hz420 Hz 660 Hz780 Hz
1020 Hz1140 Hz
Frekuensi Harmonisa
76
M. RAMELI: Control of Electric Drive
-
0 0.005 0.01 0.015 0.02 0.025 0.031
0.5
0
0.5
1
i1 t( )
i5 t( )
i7 t( )
Fundamental 5th
7th
0 0.005 0.01 0.015 0.02 0.025 0.031.5
1
0.5
0
0.5
1
1.5
iT t( )
t
Komponen--komponen
Penjumlahan
Theory: Fundamental, Harmonisa ke-5 dan ke-7
77
Ingat! Deret Fourier
M. RAMELI: Control of Electric Drive
-
PWM Drive Harmonic Input Spectrum
5th
7th
Fundamental
11th13th
Harmonic Content, 6- Pulse Drive
78
M. RAMELI: Control of Electric Drive
-
Distorsi Arus Harmonisa Menambah panas di trafo dan kabel,
menurunkan kapasitas tersedia Dapat memicu satu kondisi resonansi
dengan Kapasitor Power Factor Correction Tegangan berlebihan (Excessive voltage) Overheating pada kapasitor koreksi PF Tripping pada PF protection equipment
Distorsi tegangan - Voltage Distortion mengganggu kerja (interferensi) sensitive equipment. Paling dikuatirkan!
Harmonisa Mengapa dikhawatirkan?
79
M. RAMELI: Control of Electric Drive
-
Harmonics produced by an individual load are only important to the extent that they represent a significant portion of the total connected load
Linear loads help reduce system harmonic levels TDD equals the THD of the nonlinear load multiplied by
the ratio of nonlinear load to the demand load:
DLNLTHDTDD NL =Where
TDD = TDD of the systemTHDNL = THD of the nonlinear loadsNL = kVA of nonlinear loadDL = kVA of demand load
(nonlinear + linear)
Harmonics A System Issue!
84
M. RAMELI: Control of Electric Drive
-
Table 10.2Low-Voltage System Classification and Distortion Limits
SpecialApplications
GeneralSystem
DedicatedSystem
Notch Depth 10% 20% 50%THD (Voltage) 3% 5% 10%Notch Area, Vs 16,400 22,800 36,500
Note: Notch area for other than 480 V systems should be multiplied by V / 480.
IEEE 519 - 1992
Harmonics By the Numbers
85
M. RAMELI: Control of Electric Drive
-
Table 10.3Current Distortion Limits for General Distribution Systems
ISC / IL
-
Reactors (Chokes) Passive Filters
Harmonic Trap Hybrid
High Pulse Count Rectification Active Filters
Drive Front End Stand Alone
Harmonics Attenuation Options
87
M. RAMELI: Control of Electric Drive
-
Simplest and least expensive harmonic reduction technique
May be included in base drive package
Often meet harmonic needs provided drive load is a small portion of total connected load
May be implemented with AC line reactors or with DC link reactors
AC line reactors provide better input protection
DC link reactors provide load insensitive drive output voltage
Both types provide similar harmonic benefits
Swinging choke design provides enhanced light load harmonic performance
Reactors (Chokes)
88
M. RAMELI: Control of Electric Drive
-
AC LineReactor
M
DC LinkReactor
M
Different design techniques
Equal harmonic reduction for same normalized% reactance
Typical full load THD (current) at drive input terminals28% 46%
Reactors, AC Line atau DC Link
89
M. RAMELI: Control of Electric Drive
-
Installs in series with drive input
May feed multiple drives
Improves power factor (may go leading)
Typical full load THD (current) at filter input terminals5% 8%
Relatively unaffected by line imbalance
Hybrid Filter
90
M. RAMELI: Control of Electric Drive
-
Typical configurations are either 12 pulse or 18 pulse
Phase shifting transformer is required Additional drive input bridge(s) is needed Typical full load THD (current) at transformer
primary 8% 12% (12 pulse), 4% 6% (18 pulse) Performance severely reduced by line imbalance
(voltage or phase) Excellent choice if step-down transformer is
already required
High Pulse Count Rectification
91
M. RAMELI: Control of Electric Drive
-
6 pulse rectifier
Transformer and cabling simple
Current very distortedIthd typically 45% with 3% reactor
DC/AC
DC/AC
Transformer and cabling complicated
Current distortedIthd 8% to 12% (depending on network impedance)
12 pulse rectifier
18 pulse rectifier
DC/AC
Transformer and cabling complicated
Current wave form goodIthd 4% to 6% (depending on network impedance)
High Pulse Count Rectification
92
M. RAMELI: Control of Electric Drive
-
LCL Filter (Sine Filter) removes high frequencies >1 kHz. (Current and voltage)
Full output voltage is available with 80% input voltage(400VIn = 480VOut)
Full regenerative capability No transformer required Not affected by line imbalance
LCL filter
Line inverter(rectifier)
Motor inverter Motor
L L
C
M
Active Filter Front End with LCL Filter
93
M. RAMELI: Control of Electric Drive
-
Remember!Even an 80% THD nonlinear load with a will result in only 8% TDD if the nonlinear load is 10% and the linear load is 90%.
(80%(10%/(10%+90%))=8%)
Harmonic Reduction Summary
Effectiveness of Harmonic Mitigation Techniques (Assuming 100% Nonlinear Loading, ISC / IL = 60)
Technique THD (Current) Harmonic Reduction
No mitigation (reference level) 72% 3% line reactors (or equivalent DC link reactor) 39% 45.8% 5% line reactors (or equivalent DC link reactor) 33% 54.2% 5% line reactors + 5th harmonic trap filter 12% 83.3% 12 pulse input rectifier with 5% impedance transformer 10% 86.1% Hybrid filter 7% 90.3% 18 pulse input rectifier with 5% impedance transformer 5% 93.1% 12 pulse input rectifier with 5% impedance transformer + 11th harmonic trap filter 4% 94.4%
Active harmonic filter 3.5% 95.1%
94
M. RAMELI: Control of Electric Drive
-
Summary Practical Advice
With a main distribution transformer, 20-30% of its load on non-linear loads will typically comply with IEEE 519-1992
Voltage distortion causes interference with sensitive equipment, not current distortion!
5% reactors address 90+% of typical applications. They also provide protection against line transients and keep input currents low to avoid oversizing power wiring to comply with NEC.
Make VFD vendor perform a harmonic distortion calculation with the submittals.
95
M. RAMELI: Control of Electric Drive
-
PEAK: 1,040 volts 96
M. RAMELI: Control of Electric Drive
-
Peak Voltage all at 50 of cable
Peak Voltage has many Contributing FactorsInverter Rated
Motors Help Minimize the IssueLess dV/dT
minimizes; problems with RFI/EMI Motor Insulation & Bearing Current
Drive Peak Voltage
1 1040
2 1110
3 1180
4 1290
5 1350
6 2454
97
M. RAMELI: Control of Electric Drive
-
Recommendations
Keep cable length short as possible Use a NEMA MG1, Part 31 motor (not inverter duty or inverter
ready Ensure that grounding is sound
98
M. RAMELI: Control of Electric Drive
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99
M. RAMELI: Control of Electric Drive
-
100
M. RAMELI: Control of Electric Drive
Dasar Variable Speed DrivesObyektif:ASHRAE Rocky Mountain Chapter VFD FundamentalsApril 16, 2010Jeff Miller - ABBBiodata PersonelSlide Number 5Pengaturan motor induksi asinkron berdasarkan model steady-state (rangkaian ekivalen SS per-fasa):Slide Number 7Slide Number 8Slide Number 9Slide Number 10Slide Number 11Slide Number 12Slide Number 13Slide Number 14Apa itu Penggerak Elektrik / Drive / VFD/ AFD?Slide Number 16Slide Number 17Slide Number 18Slide Number 19Slide Number 20Slide Number 21Slide Number 22Slide Number 23Slide Number 24Slide Number 25Slide Number 26Slide Number 27Slide Number 28Slide Number 29Slide Number 30Slide Number 31Slide Number 32Slide Number 33Slide Number 34Slide Number 35Slide Number 36Slide Number 37Slide Number 38Slide Number 39Slide Number 40Slide Number 41Slide Number 42Slide Number 43Slide Number 44Slide Number 45Slide Number 46Slide Number 47Slide Number 48Slide Number 49Slide Number 50Slide Number 51Slide Number 52Slide Number 53Slide Number 54Slide Number 55Slide Number 56Slide Number 57Slide Number 58Slide Number 59Slide Number 60Slide Number 61Slide Number 62Slide Number 63Slide Number 64Slide Number 65Slide Number 66Slide Number 67Slide Number 68Slide Number 69Slide Number 70Slide Number 71Slide Number 72Beban-beban Non-Linear ?Slide Number 74Slide Number 75Slide Number 76Slide Number 77Slide Number 78Slide Number 79Slide Number 84Slide Number 85Slide Number 86Slide Number 87Slide Number 88Slide Number 89Slide Number 90Slide Number 91Slide Number 92Slide Number 93Harmonic Reduction SummarySummary Practical AdviceSlide Number 96Peak Voltage all at 50 of cableRecommendationsSlide Number 99Slide Number 100