Description
Book SynopsisElectric drives in sustainable energy systems use a physics-based approach to electric drive control. The proper control of electric motors and systems represents significant energy savings and has applications in factory automation, clean transportation, and renewable energy resource management.
Table of ContentsPreface xiii
Notation xv
1 Applications: Speed and Torque Control 1
1-1 History 1
1-2 Background 2
1-3 Types of ac Drives Discussed and the Simulation Software 2
1-4 Structure of this Textbook 3
1-5 “Test” Induction Motor 3
1-6 Summary 4
References 4
Problems 4
2 Induction Machine Equations in Phase Quantities: Assisted by Space Vectors 6
2-1 Introduction 6
2-2 Sinusoidally Distributed Stator Windings 6
2-2-1 Three-Phase, Sinusoidally Distributed Stator Windings 8
2-3 Stator Inductances (Rotor Open-Circuited) 9
2-3-1 Stator Single-Phase Magnetizing Inductance Lm,1-phase 9
2-3-2 Stator Mutual-Inductance Lmutual 11
2-3-3 Per-Phase Magnetizing-Inductance Lm 12
2-3-4 Stator-Inductance Ls 12
2-4 Equivalent Windings in a Squirrel-Cage Rotor 13
2-4-1 Rotor-Winding Inductances (Stator Open-Circuited) 13
2-5 Mutual Inductances between the Stator and the Rotor Phase Windings 15
2-6 Review of Space Vectors 15
2-6-1 Relationship between Phasors and Space Vectors in Sinusoidal Steady State 17
2-7 Flux Linkages 18
2-7-1 Stator Flux Linkage (Rotor Open-Circuited) 18
2-7-2 Rotor Flux Linkage (Stator Open-Circuited) 19
2-7-3 Stator and Rotor Flux Linkages (Simultaneous Stator and Rotor Currents) 20
2-8 Stator and Rotor Voltage Equations in Terms of Space Vectors 21
2-9 Making the Case for a dq -Winding Analysis 22
2-10 Summary 25
Reference 25
Problems 26
3 Dynamic Analysis of Induction Machines in Terms of dq Windings 28
3-1 Introduction 28
3-2 dq Winding Representation 28
3-2-1 Stator dq Winding Representation 29
3-2-2 Rotor dq Windings (Along the Same dq-Axes as in the Stator) 31
3-2-3 Mutual Inductance between dq Windings on the Stator and the Rotor 32
3-3 Mathematical Relationships of the dq Windings (at an Arbitrary Speed ωd) 33
3-3-1 Relating dq Winding Variables to Phase Winding Variables 35
3-3-2 Flux Linkages of dq Windings in Terms of Their Currents 36
3-3-3 dq Winding Voltage Equations 37
3-3-4 Obtaining Fluxes and Currents with Voltages as Inputs 40
3-4 Choice of the dqWinding Speed ωd 41
3-5 Electromagnetic Torque 42
3-5-1 Torque on the Rotor d -Axis Winding 42
3-5-2 Torque on the Rotor q -Axis Winding 43
3-5-3 Net Electromagnetic Torque Tem on the Rotor 44
3-6 Electrodynamics 44
3-7 d- and q-Axis Equivalent Circuits 45
3-8 Relationship between the dq Windings and the Per-Phase Phasor-Domain Equivalent Circuit in Balanced Sinusoidal Steady State 46
3-9 Computer Simulation 47
3-9-1 Calculation of Initial Conditions 48
3-10 Summary 56
Reference 56
Problems 57
4 Vector Control of Induction-Motor Drives: A Qualitative Examination 59
4-1 Introduction 59
4-2 Emulation of dc and Brushless dc Drive Performance 59
4-2-1 Vector Control of Induction-Motor Drives 61
4-3 Analogy to a Current-Excited Transformer with a Shorted Secondary 62
4-3-1 Using the Transformer Equivalent Circuit 65
4-4 d- and q -Axis Winding Representation 66
4-5 Vector Control with d-Axis Aligned with the Rotor Flux 67
4-5-1 Initial Flux Buildup Prior to t = 0−67
4-5-2 Step Change in Torque at t = 0+68
4-6 Torque, Speed, and Position Control 72
4-6-1 The Reference Current isq t * ( ) 72
4-6-2 The Reference Current isd t ( ) 73
4-6-3 Transformation and Inverse-Transformation of Stator Currents 73
4-6-4 The Estimated Motor Model for Vector Control 74
4-7 The Power-Processing Unit (PPU) 75
4-8 Summary 76
References 76
Problems 77
5 Mathematical Description of Vector Control in Induction Machines 79
5-1 Motor Model with the d-Axis Aligned Along the Rotor Flux Linkage λ r-Axis 79
5-1-1 Calculation of ωdA 81
5-1-2 Calculation of Tem 81
5-1-3 d-Axis Rotor Flux Linkage Dynamics 82
5-1-4 Motor Model 82
5-2 Vector Control 84
5-2-1 Speed and Position Control Loops 86
5-2-2 Initial Startup 89
5-2-3 Calculating the Stator Voltages to Be Applied 89
5-2-4 Designing the PI Controllers 90
5-3 Summary 95
Reference 95
Problems 95
6 Detuning Effects in Induction Motor Vector Control 97
6-1 Effect of Detuning Due to Incorrect Rotor Time Constant τr 97
6-2 Steady-State Analysis 101
6-2-1 Steady-State isd /is*d 104
6-2-2 Steady-State isq /is*q 104
6-2-3 Steady-State θerr 105
6-2-4 Steady-State Tem /Te*m 106
6-3 Summary 107
References 107
Problems 108
7 Dynamic Analysis of Doubly Fed Induction Generators and Their Vector Control 109
7-1 Understanding DFIG Operation 110
7-2 Dynamic Analysis of DFIG 116
7-3 Vector Control of DFIG 116
7-4 Summary 117
References 117
Problems 117
8 Space Vector Pulse Width-Modulated (SV-PWM) Inverters 119
8-1 Introduction 119
8-2 Synthesis of Stator Voltage Space Vector vsa 119
8-3 Computer Simulation of SV-PWM Inverter 124
8-4 Limit on the Amplitude ˆVs of the Stator Voltage Space Vectov sa 125
Summary 128
References 128
Problems 129
9 Direct Torque Control (DTC) and Encoderless Operation of Induction Motor Drives 130
9-1 Introduction 130
9-2 System Overview 130
9-3 Principle of Encoderless DTC Operation 131
9-4 Calculation of λs, λ r, Tem, and ωm 132
9-4-1 Calculation of the Stator Flux λ s 132
9-4-2 Calculation of the Rotor Flux λ r 133
9-4-3 Calculation of the Electromagnetic Torque Tem 134
9-4-4 Calculation of the Rotor Speed ωm 135
9-5 Calculation of the Stator Voltage Space Vector 136
9-6 Direct Torque Control Using dq-Axes 139
9-7 Summary 139
References 139
Problems 139
Appendix 9-A 140
Derivation of Torque Expressions 140
10 Vector Control of Permanent-Magnet Synchronous Motor Drives 143
10-1 Introduction 143
10-2 d-q Analysis of Permanent Magnet (Nonsalient-Pole) Synchronous Machines 143
10-2-1 Flux Linkages 144
10-2-2 Stator dq Winding Voltages 144
10-2-3 Electromagnetic Torque 145
10-2-4 Electrodynamics 145
10-2-5 Relationship between the dq Circuits and the Per-Phase Phasor-Domain Equivalent Circuit in Balanced Sinusoidal Steady State 145
10-2-6 dq-Based Dynamic Controller for “Brushless DC” Drives 147
10-3 Salient-Pole Synchronous Machines 151
10-3-1 Inductances 152
10-3-2 Flux Linkages 153
10-3-3 Winding Voltages 153
10-3-4 Electromagnetic Torque 154
10-3-5 dq-Axis Equivalent Circuits 154
10-3-6 Space Vector Diagram in Steady State 154
10-4 Summary 156
References 156
Problems 156
11 Switched-Reluctance Motor (SRM) Drives 157
11-1 Introduction 157
11-2 Switched-Reluctance Motor 157
11-2-1 Electromagnetic Torque Tem 159
11-2-2 Induced Back-EMF ea 161
11-3 Instantaneous Waveforms 162
11-4 Role of Magnetic Saturation 164
11-5 Power Processing Units for SRM Drives 165
11-6 Determining the Rotor Position for Encoderles Operation 166
11-7 Control in Motoring Mode 166
11-8 Summary 167
References 167
Problems 167
Index 169
