Mmu

ELECTRICAL DRIVES:
ELECTRICAL DRIVES:
An Application of Power Electronics
An Application of Power Electronics
Dr. Nik Rumzi Nik Idris, Dr. Nik Rumzi Nik Idris,
(Senior Member IEEE) (Senior Member IEEE)
Department of Energy Conversion, Department of Energy Conversion,
Universiti Teknologi Malaysia Universiti Teknologi Malaysia
Skudai, JOHOR Skudai, JOHOR
CONTENTS CONTENTS
Power Electronic Systems Power Electronic Systems
Modern Electrical Drive Modern Electrical Drive
Systems Systems
Power Electronic Converters in Power Electronic Converters in
Electrical Drives Electrical Drives
:: DC and AC :: DC and AC
Drives Drives
Modeling and Control of Electrical Modeling and Control of Electrical
Drives Drives
:: Current controlled :: Current controlled
Converters Converters
:: Modeling of Power :: Modeling of Power
Converters Converters
:: Scalar control of IM :: Scalar control of IM
Power Electronic Systems
What is Power Electronics ?
A field of Electrical Engineering that deals with the
application of power semiconductor devices for the
control and conversion of electric power
Power
Electronics
Converters
Load
Controller
Output
- AC
- DC
Input
Source
- AC
- DC
- unregulated
Reference
POWER ELECTRONIC
CONVERTERS the
heart of power a power
electronics system
sensors
Why Power Electronics ?
Power semiconductor devices Power switches
ON or OFF
+ v
sw
= 0
i
sw
+ v
sw

i
sw
= 0
P
loss
= v
sw
i
sw
= 0
Losses ideally ZERO !
V
ak
+
i
a
G
K
A
V
ak
+
i
a
K
A
V
ak
+
i
a
G
K
A
D
S
G
+
V
DS
i
D
G
C
E
+
V
CE
i
c
Passive elements High frequency
transformer
+
V
1
+
V
2
Inductor
+ V
L

i
L

+ V
C

i
C

Power
Electronics
Converters
sensors
Load
Controller
Output
- AC
- DC
Input
Source
- AC
- DC
- unregulated
Reference
IDEALLY
LOSSLESS !
Other factors:
Improvements in power semiconductors fabrication
Decline cost in power semiconductor
Advancement in semiconductor fabrication

ASICs
FPGA DSPs
Faster and cheaper to implement
complex algorithm
Power Integrated Module (PIM), Intelligent
Power Modules (IPM)
Some Applications of Power Electronics :
Power rating of < 1 W (portable equipment)
Tens or hundreds Watts (Power supplies for computers /office equipment)
Typically used in systems requiring efficient control and conversion
of electric energy:
Domestic and Commercial Applications
Industrial Applications
Telecommunications
Transportation
Generation, Transmission and Distribution of electrical energy
kW to MW : drives
Hundreds of MW in DC transmission system (HVDC)
Modern Electrical Drive Systems
About 50% of electrical energy used for drives
Can be either used for fixed speed or variable speed
75% - constant speed, 25% variable speed (expanding)
Variable speed drives typically used PEC to supply the motors
AC motors
- IM
- PMSM
DC motors (brushed)
SRM
BLDC
Classic Electrical Drive for Variable Speed Application :
Bulky
Inefficient
inflexible
Power
Electronic
Converters
Loa
d
Moto
r
Controller
Reference
POWER IN
feedback
Typical Modern Electric Drive Systems
Power Electronic Converters
Electric Energy
- Unregulated -
Electric Energy
- Regulated -
Electric Motor
Electric
Energy
Mechanical
Energy
Example on VSD application
motor
pump
valve
Supply
Constant speed
Variable Speed Drives
Power
In
Power loss
Mainly in valve
Power out
Power
In
Power loss
Mainly in valve
Power out
motor
pump
valve
Supply
motor
PEC pump
Supply
Constant speed
Power
In
Power loss
Power out
Power
In
Power loss
Mainly in valve
Power out
Power
In
Power loss
Power out
motor
pump
valve
Supply
motor
PEC pump
Supply
Constant speed
Electric motor consumes more than half of electrical energy in the US
Fixed speed
Variable speed
HOW ?
Improvements in energy utilization in electric motors give large
impact to the overall energy consumption
Replacing fixed speed drives with variable speed drives
Using the high efficiency motors
Improves the existing power converterbased drive systems
DC drives: Electrical drives that use DC motors as the prime mover
Regular maintenance, heavy, expensive, speed limit
AC drives: Electrical drives that use AC motors as the prime mover
Less maintenance, light, less expensive, high speed
Overview of AC and DC drives
Easy control, decouple control of torque and flux
Coupling between torque and flux variable spatial angle
between rotor and stator flux
Before semiconductor devices were introduced (<1950)
AC motors for fixed speed applications
DC motors for variable speed applications
After semiconductor devices were introduced (1960s)
Variable frequency sources available AC motors in variable
speed applications
Coupling between flux and torque control
Application limited to medium performance applications
fans, blowers, compressors scalar control
High performance applications dominated by DC motors
tractions, elevators, servos, etc
After vector control drives were introduced (1980s)
AC motors used in high performance applications elevators,
tractions, servos
AC motors favorable than DC motors however control is
complex hence expensive
Cost of microprocessor/semiconductors decreasing predicted
30 years ago AC motors would take over DC motors
Extracted from Boldea & Nasar
Power Electronic Converters in ED Systems
Converters for Motor Drives
(some possible configurations)
DC Drives
AC Drives
DC Source AC Source
AC-DC-
DC
AC-DC
AC Source
Const.
DC
Variable
DC
AC-DC-
AC
AC-AC
NCC
FCC
DC Source
DC-AC
DC-DC-
AC
DC-DC
DC-AC-
DC
Converters for Motor Drives
Configurations of Power Electronic Converters depend on:
Sources available
Type of Motors
Drive Performance - applications
- Braking
- Response
- Ratings
DC DRIVES
Available AC source to control DC motor (brushed)
AC-DC-
DC
AC-DC
Controlled Rectifier
Single-phase
Three-phase
Uncontrolled Rectifier
Single-phase
Three-phase
DC-DC Switched mode
1-quadrant, 2-quadrant
4-quadrant
Control
Control
DC DRIVES
+
V
o
+
V
o
cos
V 2
V
m
o

cos
V 3
V
m , L L
o
Average voltage over
10ms
3.33 ms
50Hz
1-phase
50Hz
3-phase
AC-DC
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
-400
-200
0
200
400
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
0
5
10
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
-500
0
500
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
0
10
20
30
DC DRIVES
+
V
o
+
V
o
cos
V 2
V
m
o
90
o
180
o
m
V 2
m
V 2
90
o
m , L L
V 3
m , L L
V 3

cos
V 3
V
m , L L
o
10ms
3.33 ms
50Hz
1-phase
50Hz
3-phase
180
o
AC-DC
DC DRIVES
AC-DC
I
a
Q1
Q2
Q3 Q4
V
t
3-phase
supply
+
V
t
i
a
- Operation in quadrant 1 and 4 only
DC DRIVES
AC-DC
Q1
Q2
Q3 Q4
T
3-phase
supply
3-
phase
supply
+
V
t

DC DRIVES
AC-DC
Q1
Q2
Q3 Q4
T
F1
F2
R1
R2
+ V
a
-
3-phase
supply
DC DRIVES
AC-DC
Cascade control structure with armature reversal (4-quadrant):
Speed
controlle
r
Current
Controlle
r
Firing
Circuit
Armature
reversal
i
D
i
D,ref
i
D,ref
i
D,
ref
+ +
_
_
DC DRIVES
AC-DC-DC
control
Uncontrolled
rectifier
Switch Mode DC-DC
1-Quadrant
2-Quadrant
4-Quadrant
DC DRIVES
AC-DC-DC
control
T1 conducts v
a
= V
dc
Q1 Q2
V
a
I
a
T1
T2
D1
+
V
a
-
D2
i
a
+
V
dc
DC DRIVES
AC-DC-DC DC-DC: Two-quadrant Converter
Q1 Q2
V
a
I
a
T1
T2
D1
+
V
a
-
D2
i
a
+
V
dc
D2 conducts v
a
= 0
V
a
E
b
T1 conducts v
a
= V
dc
Quadrant 1 The average voltage is made larger than the back emf
DC DRIVES
Q1 Q2
V
a
I
a
T1
T2
D1
+
V
a
-
D2
i
a
+
V
dc
D1 conducts v
a
= V
dc
DC DRIVES
Q1 Q2
V
a
I
a
T1
T2
D1
+
V
a
-
D2
i
a
+
V
dc
T2 conducts v
a
= 0
V
a
E
b
D1 conducts v
a
= V
dc
Quadrant 2 The average voltage is made smallerr than the back emf, thus
forcing the current to flow in the reverse direction
DC DRIVES
DC DRIVES
+
v
c
2v
tri
v
c
+
v
A
-
V
dc
0
leg A
leg B
+ V
a

Q1
Q4
Q3
Q2
D1
D3
D2 D4
+
V
dc
v
a
= V
dc
when Q1 and Q2 are ON
Positive current
DC DRIVES
AC-DC-DC DC-DC: Four-quadrant Converter
leg A
leg B
+ V
a

Q1
Q4
Q3
Q2
D1
D3
D2 D4
+
V
dc
v
a
= -V
dc
when D3 and D4 are ON
v
a
= V
dc
v
a
= 0 when current freewheels through Q and D
Positive current
DC DRIVES
v
a
= -V
dc
v
a
= V
dc
v
a
Positive current
v
a
= V
dc
Negative current
leg A
leg B
+ V
a

Q1
Q4
Q3
Q2
D1
D3
D2 D4
+
V
dc

DC DRIVES
v
a
= -V
dc
v
a
= V
dc
v
a
Positive current
v
a
= -V
dc
v
a
= V
dc
v
a
Negative current
leg A
leg B
+ V
a

Q1
Q4
Q3
Q2
D1
D3
D2 D4
+
V
dc

DC DRIVES
DC DRIVES
AC-DC-DC
v
AB
V
dc
-V
dc
V
dc
0
v
B
v
A
V
dc
0
2v
tri
v
c
v
c
+
_
V
dc
+
v
A
-
+
v
B
-
Bipolar switching scheme output
swings between V
DC
and -V
DC
DC DRIVES
AC-DC-DC
Unipolar switching scheme output
swings between V
dc
and -V
dc
V
tri
v
c
-v
c
v
c
+
_
V
dc
+
v
A
-
+
v
B
-
-v
c
v
A
V
dc
0
v
B
V
dc
0
v
AB
V
dc
0
DC DRIVES
AC-DC-DC
Bipolar switching scheme
0.04 0.0405 0.041 0.0415 0.042 0.0425 0.043 0.0435 0.044 0.0445 0.045
-200
-150
-100
-50
0
50
100
150
200
Unipolar switching scheme
0.04 0.0405 0.041 0.0415 0.042 0.0425 0.043 0.0435 0.044 0.0445 0.045
-200
-150
-100
-50
0
50
100
150
200
Current ripple in unipolar is smaller
Output frequency in unipolar is effectively doubled
V
dc
V
dc
V
dc
DC-DC: Four-quadrant Converter
Armature
current
Armature
current
AC DRIVES
AC-DC-AC
control
The common PWM technique: CB-SPWM with ZSS
SVPWM
Modeling and Control of Electrical
Drives
Control the torque, speed or position
Cascade control structure
Motor
Example of current control in cascade control structure
converter
speed
controller
position
controller
+
*
1/s
+
+

current
controller
T*
*
k
T
Drives
Current controlled converters in DC Drives - Hysteresis-based
i
ref
+
V
dc
i
a
i
ref
v
a
+
V
a
i
err
i
err
q
q
High bandwidth, simple implementation,
insensitive to parameter variations
Variable switching frequency depending on
operating conditions
+
_
Drives
Current controlled converters in AC Drives - Hysteresis-based
3-phase
AC Motor
+
+
+
i*
a
i*
b
i*
c
Converter
For isolated neutral load, i
a
+ i
b
+ i
c
= 0
control is not totally independent
Instantaneous error for isolated neutral load can
reach double the band
Drives
i
d
i
q
i
s
h h
h h
For isolated neutral load, i
a
+ i
b
+ i
c
= 0
control is not totally independent
Instantaneous error for isolated neutral load can
reach double the band
Drives
p o w e r g u i
C o n t in u o us
Universal Bridge 1
g
A
B
C
+
-
ToWorkspace1
iaref
Subsystem
c1
c2
c3
ina
inb
inc
p1
p2
p3
p4
p5
p6
SineWave 2
SineWave 1
SineWave
SeriesRLCBranch 3
SeriesRLCBranch 2
SeriesRLCBranch 1
Scope
DCVoltageSource
Current Measurement 3
i
+
-
i
+
-
i
+
-
h = 0.3 A
Sinusoidal reference current, 30Hz
Vdc = 600V
10, 50mH load
Drives
0.005 0.01 0.015 0.02 0.025 0.03
-10
-5
0
5
10
Actual and reference currents
Current error
-0.5 -0.4 -0.3 -0.2 -0.1 0 0.1 0.2 0.3 0.4 0.5
-0.5
-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
0.4
0.5
4 6 8 10 12 14 16
x 10
-3
4
5
6
7
8
9
10
Drives
-10 -5 0 5 10
-10
-5
0
5
10
Actual current locus
0 . 0 4 0 . 0 4 2 0 . 0 4 4 0 . 0 4 6 0 . 0 4 8 0 . 0 5 0 . 0 5 2 0 . 0 5 4 0 . 0 5 6 0 . 0 5 8 0 . 0 6
- 0 . 5
0
0 . 5
0 . 0 4 0 . 0 4 2 0 . 0 4 4 0 . 0 4 6 0 . 0 4 8 0 . 0 5 0 . 0 5 2 0 . 0 5 4 0 . 0 5 6 0 . 0 5 8 0 . 0 6
- 0 . 5
0
0 . 5
0 . 0 4 0 . 0 4 2 0 . 0 4 4 0 . 0 4 6 0 . 0 4 8 0 . 0 5 0 . 0 5 2 0 . 0 5 4 0 . 0 5 6 0 . 0 5 8 0 . 0 6
- 0 . 5
0
0 . 5
0.6A
0.6A
0.6A
Current error
v
tri
V
dc
q
v
c
q
V
dc
Pulse width
modulator
v
c
V
dc
Pulse width
modulator
v
c
i
ref
PI
+
q
Drives
Current controlled converters in DC Drives - PI-based
Motor
+
+
+
i*
a
i*
b
i*
c
Converter
PWM
PWM
PWM
PWM
PWM
PWM
Sinusoidal PWM
PI
PI
PI
Interactions between phases only require 2 controllers
Tracking error
Drives
Interactions between phases only require 2 controllers
Tracking error
Perform the control in synchronous frame
- the current will appear as DC
Perform the 3-phase to 2-phase transformation
- only two controllers (instead of 3) are used
Drives
Motor
i*
a
i*
b
i*
c
Converter
PWM
+
+
+
PWM
PWM
PI
PI
PI
Drives
Current controlled converters in AC Drives - PI-based
Motor
i*
a
i*
b
i*
c
Converter
3-2
3-2
SVM
2-3
PI
PI
Drives
i
d
*
i
q
*
PI
controller
dqabc
abcdq
SVM
or SPWM
VSI
IM
v
a
*
v
b
*
v
c
*
i
d
i
q
+
+
PI
controller
Synch speed
estimator
s
Drives
Drives
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01
-4
-2
0
2
4
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01
-4
-2
0
2
4
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
0
1
2
3
4
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
0
1
2
3
4
Stationary - i
a
Stationary - i
d
Rotating - i
a
Rotating - i
d
Drives
Modeling of the Power Converters: DC drives with Controlled rectifier
firing
circuit
controlled
rectifier
+
V
a
v
c
v
a
(s) v
c
(s)
DC motor
The relation between v
c
and v
a
is determined by
the firing circuit
?
It is desirable to have a linear relation between v
c
and v
a
Drives
Cosine-wave crossing control
V
m
v
s
v
c
0 2
3 4
Input voltage
Cosine wave compared with v
c
Results of comparison trigger SCRs
Output voltage
Drives
Cosine-wave crossing control
V
m
v
s
v
c
0 2
3 4
V
s
cos(t) V
s
cos() = v
c
,
_

s
c 1
v
v
cos
( )
cos
V 2
V
m
a

,
_
,
_

s
c
1
m
a
v
v
cos cos
V 2
V
s
c m
a
v
v V 2
V
A linear relation between v

c
and V
a

V
a
is the average voltage over one period of the waveform
- sampled data system
Delays depending on when the control signal changes normally taken
as half of sampling period
Drives
V
a
is the average voltage over one period of the waveform
- sampled data system
Delays depending on when the control signal changes normally taken
as half of sampling period
Drives
s
2
T
H
Ke ) s ( G

v
c
(s) V
a
(s)
s
m
V
V 2
K
Single phase, 50Hz

T=10ms
s
m , L L
V
V 3
K

Three phase, 50Hz
T=3.33ms
Simplified if control bandwidth is reduced to much lower than the
sampling frequency
Drives
firing
circuit
current
controlle
r
control
led
rectifie
r
+
V
a
v
c
i
ref
To control the current current-controlled converter
Torque can be controlled
Only operates in Q1 and Q4 (single converter topology)
Drives
Drives
powergui
Continuous
Vo ltage Measurement 4
v
+
-
v
+
-
v
+
-
v
+
-
Vo ltage Measurement
v
+
-
Universal Bridge
g
A
B
C
+
-
acos
ToWorkspace 2
ir
ToWorkspace 1
ia
ToWorkspace
v
Synchronized
6-PulseGenerator
alpha_deg
AB
BC
CA
Block
pulses
Step
Signal
Generator
Series RLC Branch
Scope 3
Scope 2
Scope 1
Scope
Saturation PIDController 1
PID
Mux
Mux
-K-
i
+
-
Current Measurement
i
+
-
Contro lled Vo ltage So urce
s
-
+
Constant 1
7
AC Vo ltage Source 2
AC Vo ltage Source 1
AC Vo ltage So urce
Input 3-phase, 240V, 50Hz
Closed loop current control
with PI controller
Drives
Input 3-phase, 240V, 50Hz
Closed loop current control
with PI controller
0. 1 0. 2 0. 3 0. 4 0. 5 0. 6 0. 7 0. 8
-500
0
500
1000
0. 1 0. 2 0. 3 0. 4 0. 5 0. 6 0. 7 0. 8
0
5
10
15
Voltage
Current
0. 22 0. 23 0. 24 0. 25 0. 26 0. 27 0. 28
-500
0
500
1000
0. 22 0. 23 0. 24 0. 25 0. 26 0. 27 0. 28
0
5
10
15
Drives
Modeling of the Power Converters: DC drives with SM Converters
v
c
+
V
a
v
tri
V
dc
q
Switching signals obtained by comparing
control signal with triangular wave
V
a
(s) v
c
(s)
DC motor
We want to establish a relation between v
c
and V
a
?
AVERAGE voltage
Drives
dt q
T
1
d
tri
T t
t
tri
tri
on
T
t
V
dc
0
T
tri
t
on
0
1
'
0
1
q
V
c
> V
tri
V
c
< V
tri
v
c
dc
dT
0
dc
tri
a
dV dt V
T
1
V
tri


Drives
-V
tri
V
tri
-V
tri
v
c
d
v
c
0.5

For v
c
= -V
tri
d = 0
Drives

Drives
0.5
V
tri
V
tri
v
c
d
v
c
-V
tri
-V
tri
For v
c
= -V
tri
d = 0
For v
c
= 0 d = 0.5
For v
c
= V
tri
d = 1

Drives
0.5
v
c
d
-V
tri
-V
tri
c
tri
v
V 2
1
5 . 0 d +
V
tri
V
tri
v
c
For v
c
= -V
tri
d = 0
For v
c
= 0 d = 0.5
For v
c
= V
tri
d = 1
Thus relation between v
c
and V
a
is obtained as:
c
tri
dc
dc a
v
V 2
V
V 5 . 0 V +
Introducing perturbation in v
c
and V
a
and separating DC and AC components:
c
tri
dc
dc a
v
V 2
V
V 5 . 0 V +
c
tri
dc
a
v
~
V 2
V
v
~

DC:
AC:
Drives
Taking Laplace Transform on the AC, the transfer function is obtained as:
tri
dc
c
a
V 2
V
) s ( v
) s ( v
v
a
(s) v
c
(s)
DC motor
tri
dc
V 2
V
Drives
2v
tri
v
c
v
c
v
tri
+
V
dc
q
-V
dc
q
V
dc
+ V
AB

v
AB
V
dc
-V
dc
c
tri
dc
AB B A
v
V
V
V V V
tri
c
A B
V 2
v
5 . 0 d 1 d
c
tri
dc
dc B
v
V 2
V
V 5 . 0 V
v
B
V
dc
0
tri
c
A
V 2
v
5 . 0 d +
c
tri
dc
dc A
v
V 2
V
V 5 . 0 V +
v
A
V
dc
0
Drives
tri
dc
c
a
V
V
) s ( v
) s ( v
v
a
(s) v
c
(s)
DC motor
tri
dc
V
V
Drives
+
V
dc
v
c
v
tri
q
a
V
dc
-v
c
v
tri
q
b
Leg a
Leg b
The same average value weve seen for bipolar !
V
tri
v
c
-v
c
tri
c
A
V 2
v
5 . 0 d +
c
tri
dc
dc A
v
V 2
V
V 5 . 0 V +
v
A
tri
c
B
V 2
v
5 . 0 d

+
c
tri
dc
dc B
v
V 2
V
V 5 . 0 V
v
B
c
tri
dc
AB B A
v
V
V
V V V
v
AB
Drives
tri
dc
c
a
V
V
) s ( v
) s ( v
v
a
(s) v
c
(s)
DC motor
tri
dc
V
V
Drives
DC motor separately excited or permanent magnet
Extract the dc and ac components by introducing small
perturbations in V
t
, i
a
, e
a,
T
e
, T
L
and
m
a
a
a a a t
e
dt
di
L R i v + +
T
e
= k
t
i
a
e
e
= k
t

dt
d
J T T
m
l e

+
a
a
a a a t
e
~
dt
i
~
d
L R i
~
v
~
+ +
) i
~
( k T
~
a E e

)
~
( k e
~
E e

dt
)
~
( d
J
~
B T
~
T
~
L e

+ +
ac components
a a a t
E R I V +
a E e
I k T

E e
k E
) ( B T T
L e
+
dc components
Drives
Perform Laplace Transformation on ac components
a
a
a a a t
e
~
dt
i
~
d
L R i
~
v
~
+ +
) i
~
( k T
~
a E e

)
~
( k e
~
E e

dt
)
~
( d
J
~
B T
~
T
~
L e

+ +
V
t
(s) = I
a
(s)R
a
+ L
a
sIa + E
a
(s)
T
e
(s) = k
E
I
a
(s)
E
a
(s) = k
E
(s)
T
e
(s) = T
L
(s) + B(s) + sJ(s)
Drives
T
k
a a
sL R
1
+
) s ( T
l
) s ( T
e
sJ B
1
+
E
k
) s ( I
a
) s ( ) s ( V
a
+
-
-
+
Drives
T
c
v
tri
+
V
dc
q
q
+
k
t
Torque
controller
T
k
a a
sL R
1
+
) s ( T
l
) s ( T
e
sJ B
1
+
E
k
) s ( I
a
) s (
) s ( V
a
+
-
-
+
Torque
controller
Converter
peak , tri
dc
V
V ) s ( T
e
-
+
DC motor
Drives
Design procedure in cascade control structure
Inner loop (current or torque loop) the fastest
largest bandwidth
The outer most loop (position loop) the slowest
smallest bandwidth
Design starts from torque loop proceed towards

outer loops
Closed-loop speed control an example
Drives
OBJECTIVES:
Fast response large bandwidth

Minimum overshoot
good phase margin (>65
o
)
Zero steady state error very large DC gain
BODE PLOTS
Obtain linear small signal model

METHOD
Design controllers based on linear small signal model

Perform large signal simulation for controllers verification
Drives
Ra = 2 La = 5.2 mH
J = 152 x 10
6
kg.m
2
B = 1 x10
4
kg.m
2
/sec
k
t
= 0.1 Nm/A k
e
= 0.1 V/(rad/s)
V
d
= 60 V V
tri
= 5 V
f
s
= 33 kHz
PI controllers
Switching signals from comparison
of v
c
and triangular waveform
Drives
BodeDiagram
Frequency (rad/sec)
-50
0
50
100
150
From: Input Point To: Output Point
M
a
g
n
i
t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
10
3
10
4
10
5
-90
-45
0
45
90
P
h
a
s
e

(
d
e
g
)
compensated
compensated
k
pT
= 90
k
iT
= 18000
Drives
Torque controller design
Open-loop gain
Speed controller design
1
Speed
controller
sJ B
1
+
*
T* T

+
Torque loop
Drives
BodeDiagram
Frequency (Hz)
-50
0
50
100
150
From: Input Point To: Output Point
M
a
g
n
i
t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
10
3
10
4
-180
-135
-90
-45
0
P
h
a
s
e

(
d
e
g
)
Open-loop gain
compensated
k
ps
= 0.2
k
is
= 0.14
compensated
Speed controller design
Drives
Large Signal Simulation results
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
-40
-20
0
20
40
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
-2
-1
0
1
2
Speed
Torque
Drives
Drives
Modeling of the Power Converters: IM drives
INDUCTION MOTOR DRIVES
Scalar Control Vector Control
Const. V/Hz
i
s
=f(
r
)
FOC
DTC
Rotor Flux Stator Flux
Circular
Flux
Hexagon
Flux
DTC
SVM
Control of induction machine based on steady-state model
(per phase SS equivalent circuit):
R
r
/s
+
V
s
R
s
L
ls
L
lr
+
E
ag
I
s
I
r
I
m
L
m
Drives
r
s
T
rated
Pull out
Torque
(T
max
)
T
e
s s
m

rated
rotor
T
L
T
e
Intersection point
(T
e
=T
L
) determines the
steady state speed
Drives
Given a load T characteristic, the steady-state speed can be
changed by altering the T of the motor:
Pole changing
Synchronous speed change
with no. of poles
Discrete step change in speed
Variable voltage (amplitude),
frequency fixed
E.g. using transformer or triac
Slip becomes high as voltage
reduced low efficiency
Variable voltage (amplitude),
variable frequency (Constant
V/Hz)
Using power electronics
converter
Operated at low slip frequency
Drives
Variable voltage, fixed frequency
0 20 40 60 80 100 120 140 160
0
100
200
300
400
500
600
T
o
r
q
u
e
w(rad/s)
Lower speed slip higher
Low efficiency at low
speed
e.g. 3phase squirrel cage IM
V = 460 V R
s
= 0.25
R
r
=0.2 L
r
= L
s
= 0.5/(2*pi*50)
L
m
=30/(2*pi*50)
f = 50Hz p = 4
Drives
Constant V/Hz
Approximates constant air-gap flux when E
ag
is large
E
ag
= k f
ag
f
V
f
E
ag

ag
= constant
Speed is adjusted by varying f - maintaining V/f constant to avoid
flux saturation
To maintain V/Hz constant
+
V
_

+
E
ag
_

Drives
0 20 40 60 80 100 120 140 160
0
100
200
300
400
500
600
700
800
900
T
o
r
q
u
e
50Hz
30Hz
10Hz
Drives
Constant V/Hz
V
rated
f
rated
V
s
f
Drives
Constant V/Hz
VSI
Rectifier
3-phase
supply
IM
Pulse
Width
Modulator
s
*
+
Ramp
f
C
V
Drives
Constant V/Hz
Drives
ToWorkspace 1
speed
ToWorkspace
torque
Subsystem
In1Out 1
Step Slider
Gain1
0.41147
Scope
RateLimiter
InductionMachine
Va
Vb
Vc
isd
isq
ird
speed
Vd
irq
Vq
Te ConstantV /Hz
In1
Out 1
Out 2
Out 3
Constant V/Hz
Simulink blocks for Constant V/Hz Control
Drives
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-100
0
100
200
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-200
0
200
400
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-100
0
100
200
Constant V/Hz
Speed
Torque
Stator phase current
1
Problems with open-loop constant V/f
At low speed, voltage drop across stator impedance is significant
compared to airgap voltage - poor torque capability at low speed
Solution:
1. Boost voltage at low speed
2. Maintain I
m
constant constant
ag
Drives
Drives
0 20 40 60 80 100 120 140 160
0
100
200
300
400
500
600
700
T
o
r
q
u
e
50Hz
30Hz
10Hz
A low speed, flux falls below
the rated value
With compensation (I
s,rated
R
s
)
0 20 40 60 80 100 120 140 160
0
100
200
300
400
500
600
700
T
o
r
q
u
e
Torque deteriorate at low
frequency hence
compensation commonly
performed at low
frequency
In order to truly
compensate need to
measure stator current
seldom performed
Drives
With voltage boost at low frequency
V
rated
f
rated
Linear offset
Non-linear offset varies with I
s
Boost
Drives
Poor speed regulation
Solution:
1. Compesate slip
2. Closed-loop control
Problems with open-loop constant V/f
2
Drives
VSI
Rectifier
3-phase
supply
IM
Pulse
Width
Modulator
V
boost
Slip speed
calculator
s
*
+
+
+
+
V
V
dc
I
dc
Ramp
f
C
Drives
A better solution : maintain
ag
constant. How?
ag
, constant E
ag
/f , constant I
m
, constant (rated)
maintain at rated
Controlled to maintain I
m
at rated
Drives
R
r
/s
+
V
s
R
s
L
ls
L
lr
+
E
ag
I
s
I
r
I
m
L
m
0 20 40 60 80 100 120 140 160
0
100
200
300
400
500
600
700
800
900
T
o
r
q
u
e
50Hz
30Hz
10Hz
Drives
Constant air-gap flux
s
r
m lr
r
lr
m
I
s
R
) L L ( j
s
R
L j
I
+ +
+
, I
1 T
1
j
1 T j
I
I
s
R
L
1
j
s
R
L j
I
s
r
r
r
slip
r slip
m
s
r
r
r
r
r
r
m
+
,
_
,
_
, I
1 T j
1 T
1
j
I
m
r slip
r
r
r
slip
s
+
+
,
_
Current is controlled using current-

controlled VSI
Dependent on rotor parameters
sensitive to parameter variation
Drives
VSI
Rectifier
3-phase
supply
IM
*
+
+ |I
s
|
slip
C
Current
controller
s
PI
+
r
-
Drives
THANK YOU THANK YOU

Mmu

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ELECTRICAL DRIVES:

Improvements in power semiconductors fabrication

Decline cost in power semiconductor

Advancement in semiconductor fabrication

Power Electronic Converters in ED Systems

Power Electronic Converters in ED Systems

Power Electronic Converters in ED Systems

A linear relation between v

Single phase, 50Hz

Modeling and Control of Electrical

Design starts from torque loop proceed towards

Fast response large bandwidth

Obtain linear small signal model

Design controllers based on linear small signal model

Current is controlled using current-

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