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Advanced Electrical Drives-Analysis, Modeling, Control.pdf
Foreword
Preface
Contents
Chapter 1
Modern Electrical Drives: An Overview
1.1 Introduction
1.2 Drive Technology Trends
1.2.1 Electrical Machines
1.2.2 Power Converters
1.2.3 Embedded Control and Communication Links
1.3 Drive Design Methodology
1.4 Experimental Setup
Chapter 2
Modulation for Power
Electronic Converters
2.1 Introduction
2.2 Single-Phase Half-Bridge Converter
2.3 Single-Phase Full-Bridge Converter
2.4 Three-Phase Converter
2.4.1 Space Vector Modulation
2.5 Dead-Time Effects
2.6 Tutorials
2.6.1 Tutorial 1: Half-Bridge Converter with Pulse Width Modulation
2.6.2 Tutorial 2: Half-Bridge Converter with PWM and Dead-Time Effects
2.6.3 Tutorial 3: Full-Bridge Converter with Pulse Width Modulation
2.6.4 Tutorial 4: Three-Phase Pulse Width Modulator with Pulse Centering
2.6.5 Tutorial 5: Three-Phase Converter with Pulse Width Modulator
2.6.6 Tutorial 6: Three-Phase Simplified Converter without PWM
Chapter 3
Current Control of Generalized Load
3.1 Current Control of Single-Phase Load
3.1.1 Hysteresis Current Control
3.1.2 Model Based Current Control
3.1.3 Augmented Model Based Current Control
3.2 Current Control of a Three-Phase Load
3.2.1 Three-Phase Hysteresis Current Control
3.2.2 Model Based Three-Phase Current Control
3.2.3 Augmented Three-Phase Model Based Current Control
3.2.4 Frequency Spectrum of Hysteresis and Model Based Current Controllers
3.3 Tutorials
3.3.1 Tutorial 1: Single-Phase Hysteresis Current Control
3.3.2 Tutorial 2: Single-Phase Model Based Current Control
3.3.3 Tutorial 3: Three-Phase Box Method Type Hysteresis Current Control
3.3.4 Tutorial 4: Three-Phase Model Based Current Control
3.3.5 Tutorial 5: Three-Phase Model Based Current Control without PWM, Using Simplified Approach
Chapter 4
Drive Principles
4.1 ITF and IRTF Concepts
4.2 Electromagnetic Torque Control Principles
4.2.1 DC Machine
4.2.2 Synchronous Machine
4.2.3 Induction Machine
4.3 Drive Dynamics
4.3.1Linear and Rotational Motion
4.3.2 Rotational to Translational Transmission
4.3.3 Gear Transmission
4.3.4 Dynamic Model of a Drive Train
4.4 Shaft Speed Control Loop Design Principles
4.5 Tutorials
4.3.1 Tutorial 1: Elementary Synchronous Drive
4.3.2 Tutorial 2: Elementary Asynchronous (Induction) Drive
4.3.3 Tutorial 3: Elementary DC Drive
4.3.4 Tutorial 4: Drive Dynamics Example
4.3.5 Tutorial 5: Speed Control Loop Design Example
Chapter 5
Modeling and Control of DC Machines
5.1 Separately Excited, Current-Controlled DC Machine
5.1.1 Symbolic Model of the DC Machine
5.1.2 Generic Model DC Machine
5.2 Field-Oriented Machine Model
5.3 Control of Separately Excited DC Machines
5.3.1 Controller Concept
5.3.2 Operational Drive Boundaries
5.3.3 Use of Current Source IRTF Based Model
5.3.4 Use of a Voltage Source with a Model Based Current Control
5.4 Tutorials
5.4.1 Tutorial 1: Current Source Model of a Brushed DC Machine with Segmented Commutation Module
5.4.2 Tutorial 2: Modeling of a Current and Voltage Source Connected Brushed DC Motor
5.4.3 Tutorial 3: Current Source Connected Brushed DC Motor with Field Weakening Controller
5.4.5 Tutorial 4: DC Drive Operating under Model Based Current Control and a Field Weakening Controller
5.4.5 Tutorial 5: DC Drive with Model Based Current Control and Shaft Speed Control Loop
5.4.6 Tutorial 6: Experimental Results of DC Machine
Chapter 6
Synchronous Machine Modeling Concepts
6.1 Non-salient Machine
6.1.1 Symbolic Model of a Non-salient Machine
6.1.2 Generic Model
6.1.3 Rotor-Oriented Model: Non-salient Synchronous Machine
6.1.4 Steady-State Analysis
6.2 Salient Synchronous Machine
6.2.1 Generic Model
6.2.2 Rotor-Oriented Model of the Salient Synchronous Machine
6.2.3 Steady-State Analysis
6.3 Tutorials
6.3.1 Tutorial 1: Dynamic Model of a Non-salient Synchronous Machine
6.3.2 Tutorial 2: Steady-State Analysisof a Non-salient Synchronous Machine
6.3.3 Tutorial 3: Stator Flux Linkage Excited Dynamic Model of a Synchronous Machineto Demonstrate the Rotor Flux Oriented Concept
6.3.4 Tutorial 4: Dynamic Model of a Synchronous Machine with Adjustable Saliency
6.3.5 Tutorial 5: Steady-State Analysis of a Salient Synchronous Machine
Chapter 7
Control of Synchronous Machine Drives
7.1 Controller Principles
7.2 Control of Non-salient Synchronous Machines
7.2.1 Operation under Drive Limitations
7.2.2 Field Weakening Operation for PM Non-salient Drives
7.2.3 Field Weakening for PM Non-salient Drives, with Constant Stator Flux Linkage Control
7.2.4 Field Weakening for Electrically Excited Non-salient Drive, with Constant Stator Flux and Unity Power Factor Control
7.3 Control of Salient Synchronous Machines
7.4 Interfacing the Field-Oriented Control Module with a Current-Controlled Synchronous Machine
7.5 Interfacing the Field-Oriented Control Module with a Voltage-Source Connected Synchronous Machine
7.6 Tutorials
7.6.1 Tutorial 1: Non-salient Synchronous Drive
7.6.2 Tutorial 2: Non-salient Synchronous Drive, Constant Stator Flux Operation
7.6.3 Tutorial 3: Non-salient Synchronous Drive, Unity Power Factor Operation
7.6.4 Tutorial 4: Salient Synchronous Drive
7.6.5 Tutorial 5: PM Salient Synchronous Drivewith Model Based Current Control
7.6.6 Tutorial 6: Experimental Results of a PM Non-salient Synchronous Drive
Chapter 8
Induction Machine Modeling Concepts
8.1 Induction Machine with Squirrel-Cage Rotor
8.2 Zero Leakage Inductance Models of Induction Machines
8.2.1 IRTF Based Model of the Induction Machine
8.2.2 Field-Oriented Model
8.3 Machine Models with Leakage Inductances
8.3.1 Fundamental IRTF Based Model
8.3.2 Universal IRTF Based Model
8.3.2.1 Rotor Flux Based IRTF Model
8.3.2.2 Stator Flux Based IRTF Model
8.3.3 Universal Stationary Frame Oriented Model
8.3.4 Universal Field-Oriented (UFO) Model
8.3.4.1 Rotor Flux Oriented Model
8.3.4.2 Stator Flux Oriented Model
8.3.5 Synchronous Frame Oriented Heyland diagram
8.3.6 Steady-State Analysis of Voltage-Source-Connected Induction Machines
8.4 Parameter Identification and Estimates for Stator and Rotor Flux Linkage Magnitude
8.5 Single-Phase Induction Machines
8.5.1Steady-State Analysis of Capacitor-Run Single-Phase Induction Machines
8.6 Tutorials
8.6.1 Tutorial 1: Simplified Induction Machine Model
8.6.2 Tutorial 2: Universal Induction Machine Model
8.6.3 Tutorial 3: Universal Stationary Oriented Induction Machine Model
8.6.4 Tutorial 4: Current Controlled Zero Leakage Flux Oriented Machine Model
8.6.5 Tutorial 5: Current Controlled Universal Field Oriented (UFO) Model
8.6.6 Tutorial 6: Parameter Estimation Using Name Plate Data and Known Stator Resistance
8.6.7 Tutorial 7: Grid Connected Induction Machine
8.6.8 Tutorial 8: Steady State Characteristics, Grid Connected Induction Machine
8.6.9Tutorial 9: Grid Connected Single-Phase Induction Machine
Chapter 9
Control of Induction Machine Drives
9.1 Voltage-to-Frequency (V/f) Control
9.1.1 Simple V/f Speed Controller
9.1.2 V/f Torque Controller with Shaft Speed Sensor
9.2 Field-Oriented Control
9.2.1 Controller Principle
9.2.2 Controller Structure
9.2.3 UFO Module Structure
9.2.4 IFO Using Measured Shaft Speed or Shaft Angle
9.2.5 DFO with Air-Gap Flux Sensors
9.2.6 DFO with Sensor Coils
9.2.7 DFO with Voltage and Current Transducers
9.2.8 DFO with Current and Shaft Speed Transducers
9.3 Operational Drive Boundaries for Rotor Flux Oriented Control
9.4 Field Weakening for Rotor Flux Oriented IM Drives
9.5 Interfacing the Field-Oriented Controller with a Current-Controlled Induction Machine
9.6 Interfacing the Field-Oriented Controller with a Voltage-Source-Connected Induction Machine
9.7 Tutorials
9.7.1Tutorial 1: Simplified V/f Drive
9.7.2 Tutorial 2: V/f Drive with Shaft Speed Sensor
9.7.3 Tutorial 3: Universal Field-Oriented (UFO) Control with a Current Source Based Machine Model and Known Shaft Angle
9.7.4 Tutorial 4: Induction Machine Drive with UFO Controller and Model-Based Current Control
9.7.5 Tutorial 5: Rotor Flux Oriented Induction Machine Drive with UFO Controller and Field Weakening Controller
9.7.6 Tutorial 6: Experimental Results of an Induction Machine with UFO Controller
Chapter 10
Switched Reluctance Drive Systems
10.1 Basic Machine Concepts
10.2 Operating Principles
10.2.1 Single-Phase Motor Concept
10.2.2 Torque Production and Energy Conversion Principles
10.2.3 Single-Phase Switched Reluctance Machine:A Linear Example
10.2.4 Switched Reluctance Modeling Concepts
10.2.5 Representation of the Magnetization Characteristics
10.2.6 Converter and Control Concepts
10.2.7 Example of Low and High Speed Drive Operation
10.3 Multi-Phase Machines
10.3.1 Converter Concepts
10.4 Control of Switched Reluctance Drives
10.4.1 Drive Characteristics and Operating Range
10.4.2 Drive Operational Aspects
10.4.3 Direct Instantaneous Torque Control (DITC)
10.5 Switched Reluctance Demonstration Machine
10.6 Tutorials
10.6.1 Tutorial 1: Analysis of a Linear SR Machine, with Current Excitation
10.6.2 Tutorial 2: Non-linear SR Machine,with Voltage Excitation and Hysteresis Current Controller
10.6.3 Tutorial 3: Non-linear SR Machine,with Voltage Excitation and PWM Controller
10.6.4 Tutorial 4: Four-Phase Non-linear SR Model, with Voltage Excitation and Hysteresis Control
10.6.6 Tutorial 5: Four-Phase Non-linear SR Model, with Voltage Excitation and Direct Instantaneous Torque Control (DITC)
References
Abbreviations
List of symbols
List of indices
Index
Rik De Doncker r Duco W.J. Pulle r
André Veltman
Advanced
Electrical Drives
Analysis, Modeling, Control
Dr. André Veltman
TU Eindhoven
Den Dolech 2
5612 AZ Eindhoven
The Netherlands
a.veltman@piak.nl
Prof. Dr. Rik De Doncker
RWTH Aachen University
Inst. for Power Electronics
and Electrical Drives (ISEA)
Jägerstr. 17-19
52066 Aachen
Germany
aed@isea.rwth-aachen.de
Dr. Duco W.J. Pulle
Zener Electric Pty Ltd.
Horsley Road 366
2214 Milperra, Sydney
New South Wales
Australia
Additional material to this book can be downloaded from http://extras.springer.com.
ISSN 1612-1287
ISBN 978-94-007-0179-3
DOI 10.1007/978-94-007-0181-6
Springer Dordrecht Heidelberg London New York
e-ISSN 1860-4676
e-ISBN 978-94-007-0181-6
© Springer Science+Business Media B.V. 2011
No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by
any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written
permission from the Publisher, with the exception of any material supplied specifically for the purpose
of being entered and executed on a computer system, for exclusive use by the purchaser of the work.
Cover design: VTEX, Vilnius
Printed on acid-free paper
Springer is part of Springer Science+Business Media (www.springer.com)
Foreword
The value of a textbook is largely determined by how well its structure sup-
ports the reader in mastering the depth and breadth of the intended subject.
This textbook provides a structure that can achieve that goal for engineers
seeking to master key technologies for a wide range of advanced electrical
drives.
To achieve that goal it wisely places very significant, but common back-
ground material in the early chapters, where it introduces the core topologies
of power converters and the key issues needed to understand and apply prac-
tical power electronic converters. It also lays a sound foundation for under-
standing the two fundamental approaches for current regulators: hysteresis
control and model-based control. By providing a sound and detailed back-
ground on power converters and current regulators, the rest of the text is
able to focus on the advanced electrical drive concepts that are unique to
the major classes of machines: DC, AC synchronous machines, AC induction
machines, and switched reluctance machines.
Common structures are used to great advantage. To develop a common
basis for modeling and control, the machines that are predominately Lorentz
force machines,
i.e. the DC, AC synchronous, and AC induction (asyn-
chronous) machines are all modeled using an ideal rotating transformer. By
first applying it to the DC machine, the link to AC machines is very clear.
Common modules are used to provide uniformity in the discussion between
the various machine types and to be directly compatible with a simulation
modeling environment. A similar structure is extensively used for the controls
modules that follow the machine modules.
The text’s separation of machine modeling from drive control is very help-
ful. Machine modeling lays a foundation such the controls can logically se-
quence from classical to advanced drive methodologies. The inclusion of both
surface and interior permanent magnet synchronous machines is particularly
relevant since those machines are beginning to dominate many applications.
The significant treatment of field weakening operation is also critical. The in-
clusion of limits such as maximum current, maximum flux, maximum torque
vii
viii
Foreword
per flux, and maximum torque per ampere make the range of operation of the
machine drives very transparent. The universal field-oriented control struc-
ture is aptly used to unify the subsequent presentation of indirect and direct
field orientation control methods.
A very clear transition is made from predominately Lorentz force-based
machines to purely reluctance torque-based machines. The detailed modeling
and evaluation of switched reluctance machines allows drives engineers to cor-
rectly model the inherently pulsating torque that each phase provides. The
treatment of saturation and its affect on power conversion leads nicely into
evaluation of drives with these properties. By including a rigorous discussion
of classical hysteresis current control and multi-phase direct instantaneous
torque control, the reader can appreciate the structure needed for high per-
formance control of torque in switched reluctance drives.
Throughout the text, extensive tutorials tie modules that codify key con-
cepts in the theory, to their implementation in a simulation environment.
This makes it possible for the reader to quickly explore details and develop
confidence in their mastery of major concepts for advanced electrical drives.
By following the approach of this book, I believe that advanced drive
engineers will be able to develop depth and breadth that is not normally
easy to achieve.
Madison, Wisconsin, U.S.A.
Robert D. Lorenz
Preface
Mastering the synergy of electromagnetics, control, power electronics and me-
chanical concepts remains an intellectual challenge. Nevertheless, this barrier
must be overcome by engineers and senior students who have a need or de-
sire to comprehend the theoretical and practical aspects of modern electrical
drives. In this context, the term drive represents a plethora of motion control
systems as present in industry.
This book Advanced Electrical Drives builds on basic concepts outlined in
the book Fundamentals of Electrical Drives by the same authors. Hence, it is
prudent for the uninitiated reader to consider this material prior to tackling
the more advanced material presented in this text. Others well versed in the
basic concepts of electrical drives should be able to readily assimilate the
material presented as every effort has been made to ensure that the material
presented can be mastered without the need to continually switch between
the books.
In our previous work, the unique concept of an ideal rotating transformer
(IRTF), as developed by the authors, was introduced to facilitate the basic
understanding of torque production in electrical machines. The application
of the IRTF module to modern electrical machines as introduced in Fun-
damentals of Electrical Drives is fully explored in this volume and as such
allows the user to examine a range of unique dynamic and steady-state ma-
chine models which covers brushed DC, non-salient/salient synchronous and
induction machines.
In addition, this volume explains the universal field oriented (UFO) con-
cept which demonstrates the concepts of modern vector control and exem-
plifies the seamless transition between so-called stator flux and rotor flux
oriented control techniques. This powerful tool is used for the development
of flux oriented machine models of rotating field machines. These models
form the basis of UFO vector control techniques which are covered exten-
sively together with traditional drive concepts. In the last sections of this
book, attention is given to the dynamic modeling of switched reluctance (SR)
ix
x
Preface
drives, where a comprehensive set of modeling tools and control techniques
are presented which are complemented by a set of build and play modules.
As with the previous book, the interactive learning process using build and
play modules is continued. Again the simulation tool Caspoc is used which
contains a tailored set of modules which bring to life the circuit and generic
models introduced in the text. This approach provides the reader with the
opportunity to interactively explore and fully comprehend and visualize the
concepts presented in this text. For this purpose, realtime modules which
allow the reader to view the simulations without further software licensing
needs are provided on the Springer website (http://extras.springer.com).
The text Advanced Electrical Drives should appeal to the readers in indus-
try and universities who have a desire or need to understand the intricacies of
modern electrical drives without loosing sight of the fundamental principles.
The book brings together the concepts of IRTF and UFO which allows a com-
prehensive and insightful analysis of AC electrical drives in terms of modeling
and control. Particular attention is also given to switched reluctance drives
modeling methods and modern control techniques. Extensive use is made of
build and play modules in this book which for the first time provides the user
with the ability to interactively examine and understand the topics present
in this book.
Aachen, Germany
Aachen, Germany
Culemborg, Netherlands
Rik De Doncker
Duco W. J. Pulle
Andr´e Veltman
Acknowledgements
That this work has come to fruition stems from a deep belief that the material
presented in this book will be of profound value to the educational institutions
and the engineering community as a whole. In particular, the fast but accurate
simulations that accompany the tutorials provide a new way of learning that
is highly interactive, so that they may stimulate creativity of students and
experts alike by virtue of virtual experiments.
The content of this book reflects on the collective academic and indus-
trial experience of the authors and co-workers. In this context, the inputs
of students and research associates cannot be overestimated. The authors
wish to acknowledge the staff at the Institute for Power Electronics and
Electrical Drives (ISEA) of RWTH Aachen University. In particular, the au-
thors would like to thank (in alphabetical order) Matthias B¨osing, Chris-
tian Carstensen, Martin Hennen, Knut Kasper, Markus Kunter, Christoph
Neuhaus, and Daniel van Treek for their contribution over the last three years.
We would also like to thank Paul van der Hulst of Piak Electronic Design b.v.,
Culemborg, Netherlands, for supporting the final editing work and providing
many good suggestions. Furthermore, the simulation tools that support the
tutorials would not have been possible without the generous support of Peter
van Duijsen of Simulation-Research, Alphen aan den Rijn, Netherlands, to
support and make available to the readers of this book all Caspoc simu-
lations. The experimental setup used to validate and demonstrate the algo-
rithms was supported by AixControl GmbH, Aachen, Germany. The authors
are grateful to the American University of Sharjah, United Arab Emirates,
for supporting a working visit to RWTH Aachen University.
xi
Contents
1 Modern Electrical Drives: An Overview . . . . . . . . . . . . . . . . . .
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Drive Technology Trends
1.2.1 Electrical Machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.2 Power Converters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.3 Embedded Control and Communication Links . . . . . . . .
1
1
3
3
6
8
1.3 Drive Design Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.4 Experimental Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2 Modulation Techniques for Power Electronic Converters . . 17
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2 Single-Phase Half-Bridge Converter . . . . . . . . . . . . . . . . . . . . . . . 19
2.3 Single-Phase Full-Bridge Converter . . . . . . . . . . . . . . . . . . . . . . . 23
2.4 Three-Phase Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.4.1 Space Vector Modulation . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.5 Dead-Time Effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.6 Tutorials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.6.1 Tutorial 1: Half-Bridge Converter with Pulse Width
Modulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.6.2 Tutorial 2: Half-Bridge Converter with PWM and
Dead-Time Effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.6.3 Tutorial 3: Full-Bridge Converter with Pulse Width
Modulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2.6.4 Tutorial 4: Three-Phase Pulse Width Modulator with
Pulse Centering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.6.5 Tutorial 5: Three-Phase Converter with Pulse Width
Modulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
2.6.6 Tutorial 6: Three-Phase Simplified Converter without
PWM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
xiii
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