Control of electric machine drive system

Title:

Personal Author:

Sul, Seung-Ki

Series:

IEEE Press series on power engineering ; 55

Publication Information:

Hoboken, N.J. : Wiley-IEEE, c c2011

Physical Description:

xvi, 399 p. : ill. ; 24 cm.

ISBN:

9780470590799

Abstract:

"This book is based on the author's industry experience. It contains many exercise problems that engineers would experience in their day-to-day work. The book was published in Korean at 500 pages as a textbook. The book will contain over 300 figures. The author plans to have an FTP site to provide some MATLAB programs for selected problems"-- Provided by publisher.

"This book is based on the author's industry experience. It contains many exercise problems that engineers would experience in their day-to-day work"-- Provided by publisher.

Subject Term:

Electric driving -- Automatic control

Technology -- Environmental aspects

Available:*

Library	Item Barcode	Call Number	Material Type	Item Category 1	Status
Searching... PSZ JB	30000010253052	TK4058 S851 2011	Open Access Book	Book	Searching... Unknown

On Order

Summary

A unique approach to sensorless control and regulator design of electric drives

Based on the author's vast industry experience and collaborative works with other industries, Control of Electric Machine Drive Systems is packed with tested, implemented, and verified ideas that engineers can apply to everyday problems in the field. Originally published in Korean as a textbook, this highly practical updated version features the latest information on the control of electric machines and apparatus, as well as a new chapter on sensorless control of AC machines, a topic not covered in any other publication.

The book begins by explaining the features of the electric drive system and trends of development in related technologies, as well as the basic structure and operation principles of the electric machine. It also addresses steady state characteristics and control of the machines and the transformation of physical variables of AC machines using reference frame theory in order to provide a proper foundation for the material.

The heart of the book reviews several control algorithms of electric machines and power converters, explaining active damping and how to regulate current, speed, and position in a feedback manner. Seung-Ki Sul introduces tricks to enhance the control performance of the electric machines, and the algorithm to detect the phase angle of an AC source and to control DC link voltages of power converters. Topics also covered are:

Vector control Control algorithms for position/speed sensorless drive of AC machines Methods for identifying the parameters of electric machines and power converters The matrix algebra to model a three-phase AC machine in d-q-n axes

Every chapter features exercise problems drawn from actual industry experience. The book also includes more than 300 figures and offers access to an FTP site, which provides MATLAB programs for selected problems. The book's practicality and realworld relatability make it an invaluable resource for professionals and engineers involved in the research and development of electric machine drive business, industrial drive designers, and senior undergraduate and graduate students.

To obtain instructor materials please send an email to pressbooks@ieee.org

To visit this book's FTP site to download MATLAB codes, please click on this link: ftp://ftp.wiley.com/public/sci_tech_med/electric_machine/

MATLAB codes are also downloadable from Wiley Booksupport Site at http://booksupport.wiley.com

Author Notes

Seung-Ki Sul , PhD, serves as the director of Electrical Engineering and Science Research Center at Seoul National University in Korea. A well-known world authority on the subject of electrical drives, Dr. Sul has lectured on this topic at Seoul National University for the last seventeen years. Previously, he served as the acting director and consultant at Yaskawa Electric Company in Japan. An IEEE Fellow since 2000, Dr. Sul holds fifteen domestic patents and eight international patents.

Preface	p. xiii
1 Introduction	p. 1
1.1 Introduction	p. 1
1.1.1 Electric Machine Drive System	p. 4
1.1.2 Trend of Development of Electric Machine Drive System	p. 5
1.1.3 Trend of Development of Power Semiconductor	p. 7
1.1.4 Trend of Development of Control Electronics	p. 8
1.2 Basics of Mechanics	p. 8
1.2.1 Basic Laws	p. 9
1.2.2 Force and Torque	p. 9
1.2.3 Moment of Inertia of a Rotating Body	p. 11
1.2.4 Equations of Motion for a Rigid Body	p. 13
1.2.5 Power and Energy	p. 17
1.2.6 Continuity of Physical Variables	p. 18
1.3 Torque Speed Curve of Typical Mechanical Loads	p. 18
1.3.1 Fan, Pump, and Blower	p. 18
1.3.2 Hoisting Load; Crane, Elevator	p. 20
1.3.3 Traction Load (Electric Vehicle, Electric Train)	p. 21
1.3.4 Tension Control Load	p. 23
Problems	p. 24
References	p. 35
2 Basic Structure and Modeling of Electric Machines and Power Converters	p. 36
2.1 Structure and Modeling of DC Machine	p. 36
2.2 Analysis of Steady-State Operation	p. 41
2.2.1 Separately Excited Shunt Machine	p. 42
2.2.2 Series Excited DC Machine	p. 45
2.3 Analysis of Transient State of DC Machine	p. 46
2.3.1 Separately Excited Shunt Machine	p. 47
2.4 Power Electronic Circuit to Drive DC Machine	p. 50
2.4.1 Static Ward-Leonard System	p. 51
2.4.2 Four-Quadrants Chopper System	p. 52
2.5 Rotating Magnetic Motive Force	p. 53
2.6 Steady-State Analysis of a Synchronous Machine	p. 58
2.7 Linear Electric Machine	p. 62
2.8 Capability Curve of Synchronous Machine	p. 63
2.8.1 Round Rotor Synchronous Machine with Field Winding	p. 63
2.8.2 Permanent Magnet Synchronous Machine	p. 64
2.9 Parameter Variation of Synchronous Machine	p. 66
2.9.1 Stator and Field Winding Resistance	p. 66
2.9.2 Synchronous Inductance	p. 66
2.9.3 Back EMF Constant	p. 67
2.10 Steady-State Analysis of Induction Machine	p. 70
2.10.1 Steady-State Equivalent Circuit of an Induction Machine	p. 72
2.10.2 Constant Air Gap Flux Operation	p. 77
2.11 Generator Operation of an Induction Machine	p. 79
2.12 Variation of Parameters of an Induction Machine	p. 81
2.12.1 Variation of Rotor Resistance, R r	p. 81
2.12.2 Variation of Rotor Leakage Inductance, L lr	p. 82
2.12.3 Variation of Stator Resistance, R s	p. 82
2.12.4 Variation of Stator Leakage Inductance, L ls	p. 83
2.12.5 Variation of Excitation Inductance, L m	p. 84
2.12.6 Variation of Resistance Representing Iron Loss, R m	p. 84
2.13 Classification of Induction Machines According to Speed-Torque Characteristics	p. 84
2.14 Quasi-Transient State Analysis	p. 87
2.15 Capability Curve of an Induction Machine	p. 88
2.16 Comparison of AC Machine and DC Machine	p. 90
2.16.1 Comparison of a Squirrel Cage Induction Machine and a Separately Excited DC Machine	p. 90
2.16.2 Comparison of a Permanent Magnet AC Machine and a Separately Excited DC Machine	p. 92
2.17 Variable-Speed Control of Induction Machine Based on Steady-State Characteristics	p. 92
2.17.1 Variable Speed Control of Induction Machine by Controlling Terminal Voltage	p. 93
2.17.2 Variable Speed Control of Induction Machine Based on Constant Air-Gap Flux (≈V/F) Control	p. 94
2.17.3 Variable Speed Control of Induction Machine Based on Actual Speed Feedback	p. 95
2.17.4 Enhancement of Constant Air-Gap Flux Control with Feedback of Magnitude of Stator Current	p. 96
2.18 Modeling of Power Converters	p. 96
2.18.1 Three-Phase Diode/Thyristor Rectifier	p. 97
2.18.2 PWM Boost Rectifier	p. 98
2.18.3 Two-Quadrants Bidirectional DC/DC Converter	p. 101
2.18.4 Four-Quadrants DC/DC Converter	p. 102
2.18.5 Three-Phase PWM Inverter	p. 103
2.18.6 Matrix Converter	p. 105
2.19 Parameter Conversion Using Per Unit Method	p. 106
Problems	p. 108
References	p. 114
3 Reference Frame Transformation and Transient State Analysis of Three-Phase AC Machines	p. 116
3.1 Complex Vector	p. 117
3.2 d-q-n Modeling of an Induction Machine Based on Complex Space Vector	p. 119
3.2.1 Equivalent Circuit of an Induction Machine at d-q-n AXIS	p. 120
3.2.2 Torque of the Induction Machine	p. 125
3.3 d-q-n Modeling of a Synchronous Machine Based on Complex Space Vector	p. 128
3.3.1 Equivalent Circuit of a Synchronous Machine at d-q-n AXIS	p. 128
3.3.2 Torque of a Synchronous Machine	p. 138
3.3.3 Equivalent Circuit and Torque of a Permanent Magnet Synchronous Machine	p. 140
3.3.4 Synchronous Reluctance Machine (SynRM)	p. 144
Problems	p. 146
References	p. 153
4 Design of Regulators for Electric Machines and Power Converters	p. 154
4.1 Active Damping	p. 157
4.2 Current Regulator	p. 158
4.2.1 Measurement of Current	p. 158
4.2.2 Current Regulator for Three-Phase-Controlled Rectifier	p. 161
4.2.3 Current Regulator for a DC Machine Driven by a PWM Chopper	p. 166
4.2.4 Anti-Wind-Up	p. 170
4.2.5 AC Current Regulator	p. 173
4.3 Speed Regulator	p. 179
4.3.1 Measurement of Speed/Position of Rotor of an Electric Machine	p. 179
4.3.2 Estimation of Speed with Incremental Encoder	p. 182
4.3.3 Estimation of Speed by a State Observer	p. 189
4.3.4 PI/IP Speed Regulator	p. 198
4.3.5 Enhancement of Speed Control Performance with Acceleration Information	p. 204
4.3.6 Speed Regulator with Anti-Wind-Up Controller	p. 206
4.4 Position Regulator	p. 208
4.4.1 Proportional-Proportional and Integral (P-PI) Regulator	p. 208
4.4.2 Feed-Forwarding of Speed Reference and Acceleration Reference	p. 209
4.5 Detection of Phase Angle of AC Voltage	p. 210
4.5.1 Detection of Phase Angle on Synchronous Reference Frame	p. 210
4.5.2 Detection of Phase Angle Using Positive Sequence Voltage on Synchronous Reference Frame	p. 213
4.6 Voltage Regulator	p. 215
4.6.1 Voltage Regulator for DC Link of PWM Boost Rectifier	p. 215
Problems	p. 218
References	p. 228
5 Vector Control	p. 230
5.1 Instantaneous Torque Control	p. 231
5.1.1 Separately Excited DC Machine	p. 231
5.1.2 Surface-Mounted Permanent Magnet Synchronous Motor (SMPMSM)	p. 233
5.1.3 Interior Permanent Magnet Synchronous Motor (IPMSM)	p. 235
5.2 Vector Control of Induction Machine	p. 236
5.2.1 Direct Vector Control	p. 237
5.2.2 Indirect Vector Control	p. 243
5.3 Rotor Flux Linkage Estimator	p. 245
5.3.1 Voltage Model Based on Stator Voltage Equation of an Induction Machine	p. 245
5.3.2 Current Model Based on Rotor Voltage Equation of an Induction Machine	p. 246
5.3.3 Hybrid Rotor Flux Linkage Estimator	p. 247
5.3.4 Enhanced Hybrid Estimator	p. 248
5.4 Flux Weakening Control	p. 249
5.4.1 Constraints of Voltage and Current to AC Machine	p. 249
5.4.2 Operating Region of Permanent Magnet AC Machine in Current Plane at Rotor Reference Frame	p. 250
5.4.3 Flux Weakening Control of Permanent Magnet Synchronous Machine	p. 257
5.4.4 Flux Weakening Control of Induction Machine	p. 262
5.4.5 Flux Regulator of Induction Machine	p. 267
Problems	p. 269
References	p. 281
6 Position/Speed Sensorless Control of AC Machines	p. 283
6.1 Sensorless Control of Induction Machine	p. 286
6.1.1 Model Reference Adaptive System (MRAS)	p. 286
6.1.2 Adaptive Speed Observer (ASO)	p. 291
6.2 Sensorless Control of Surface-Mounted Permanent Magnet Synchronous Machine (SMPMSM)	p. 297
6.3 Sensorless Control of Interior Permanent Magnet Synchronous Machine (IPMSM)	p. 299
6.4 Sensorless Control Employing High-Frequency Signal Injection	p. 302
6.4.1 Inherently Salient Rotor Machine	p. 304
6.4.2 AC Machine with Nonsalient Rotor	p. 305
Problems	p. 317
References	p. 320
7 Practical Issues	p. 324
7.1 Output Voltage Distortion Due to Dead Time and Its Compensation	p. 324
7.1.1 Compensation of Dead Time Effect	p. 325
7.1.2 Zero Current Clamping (ZCC)	p. 327
7.1.3 Voltage Distortion Due to Stray Capacitance of Semiconductor Switches	p. 327
7.1.4 Prediction of Switching Instant	p. 330
7.2 Measurement of Phase Current	p. 334
7.2.1 Modeling of Time Delay of Current Measurement System	p. 334
7.2.2 Offset and Scale Errors in Current Measurement	p. 337
7.3 Problems Due to Digital Signal Processing of Current Regulation Loop	p. 342
7.3.1 Modeling and Compensation of Current Regulation Error Due to Digital Delay	p. 342
7.3.2 Error in Current Sampling	p. 346
Problems	p. 350
References	p. 353
Appendix A Measurement and Estimation of Parameters of Electric Machinery	p. 354
A.1 Parameter Estimation	p. 354
A.1.1 DC Machine	p. 355
A.1.2 Estimation of Parameters of Induction Machine	p. 357
A.2 Parameter Estimation of Electric Machines Using Regulators of Drive System	p. 361
A.2.1 Feedback Control System	p. 361
A.2.2 Back EMF Constant of DC Machine, K	p. 363
A.2.3 Stator Winding Resistance of Three-Phase AC Machine, R s	p. 363
A.2.4 Induction Machine Parameters	p. 365
A.2.5 Permanent Magnet Synchronous Machine	p. 370
A.3 Estimation of Mechanical Parameters	p. 374
A.3.1 Estimation Based on Mechanical Equation	p. 374
A.3.2 Estimation Using Integral Process	p. 376
References	p. 380
Appendix B d-q Modeling Using Matrix Equations	p. 381
B.1 Reference Frame and Transformation Matrix	p. 381
B.2 d-q Modeling of Induction Machine Using Transformation Matrix	p. 386
B.3 d-q Modeling of Synchronous Machine Using Transformation Matrix	p. 390
Index	p. 391
IEEE Press Series on Power Engineering	p. 401

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Author Notes

Table of Contents