GupShup Study
 
  
Advanced Electrical Drives pdf ebook free download
Ravi Chopra

Advanced Electrical Drives pdf ebook free download

Ravi Chopra | 02-Mar-2016 |
Advanced Electrical Drives , ANALYSIS , Modeling , Control , Modern Electrical Drives: An Overview , Modulation Techniques for Power Electronic Converters , Current Control of Generalized Load , Drive Principles , Modeling and Control of DC Machines , Synchronous Machine Modeling Concepts , Control of Synchronous Machine Drives . , Induction Machine Modeling Concepts , Control of Induction Machine Drives , Switched Reluctance Drive Systems ,

Hi friends, here Ravi Chopra uploaded notes for Electrical Drives with title Advanced Electrical Drives pdf ebook free download. You can download this lecture notes, ebook by clicking on the below file name or icon.

Contents

 


1 Modern Electrical Drives: An Overview . . . . . . . . . . . . . . . . . . 1
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Drive Technology Trends . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2.1 Electrical Machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2.2 Power Converters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2.3 Embedded Control and Communication Links . . . . . . . . 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
xiv Contents
3 Current Control of Generalized Load . . . . . . . . . . . . . . . . . . . . . 55
3.1 Current Control of Single-Phase Load . . . . . . . . . . . . . . . . . . . . . 55
3.1.1 Hysteresis Current Control . . . . . . . . . . . . . . . . . . . . . . . . 55
3.1.2 Model Based Current Control . . . . . . . . . . . . . . . . . . . . . . 58
3.1.3 Augmented Model Based Current Control . . . . . . . . . . . 63
3.2 Current Control of a Three-Phase Load . . . . . . . . . . . . . . . . . . . 64
3.2.1 Three-Phase Hysteresis Current Control . . . . . . . . . . . . . 67
3.2.2 Model Based Three-Phase Current Control . . . . . . . . . . 73
3.2.3 Augmented Three-Phase Model Based Current Control 80
3.2.4 Frequency Spectrum of Hysteresis and Model Based
Current Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
3.3 Tutorials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
3.3.1 Tutorial 1: Single-Phase Hysteresis Current Control . . . 83
3.3.2 Tutorial 2: Single-Phase Model Based Current Control 84
3.3.3 Tutorial 3: Three-Phase Box Method Type Hysteresis
Current Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
3.3.4 Tutorial 4: Three-Phase Model Based Current Control 89
3.3.5 Tutorial 5: Three-Phase Model Based Current Control
without PWM, Using Simplified Approach. . . . . . . . . . . 92
4 Drive Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
4.1 ITF and IRTF Concepts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
4.2 Electromagnetic Torque Control Principles. . . . . . . . . . . . . . . . . 100
4.2.1 DC Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
4.2.2 Synchronous Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
4.2.3 Induction Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
4.3 Drive Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
4.3.1 Linear and Rotational Motion . . . . . . . . . . . . . . . . . . . . . . 109
4.3.2 Rotational to Translational Transmission . . . . . . . . . . . . 111
4.3.3 Gear Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
4.3.4 Dynamic Model of a Drive Train . . . . . . . . . . . . . . . . . . . 115
4.4 Shaft Speed Control Loop Design Principles . . . . . . . . . . . . . . . 117
4.5 Tutorials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
4.5.1 Tutorial 1: Elementary Synchronous Drive . . . . . . . . . . . 122
4.5.2 Tutorial 2: Elementary Asynchronous (Induction)
Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
4.5.3 Tutorial 3: Elementary DC Drive . . . . . . . . . . . . . . . . . . . 125
4.5.4 Tutorial 4: Drive Dynamics Example . . . . . . . . . . . . . . . . 126
4.5.5 Tutorial 5: Speed Control Loop Design Example . . . . . . 127
5 Modeling and Control of DC Machines . . . . . . . . . . . . . . . . . . . 131
5.1 Separately Excited, Current-Controlled DC Machine . . . . . . . . 132
5.1.1 Symbolic Model of the DC Machine . . . . . . . . . . . . . . . . 133
5.1.2 Generic Model DC Machine . . . . . . . . . . . . . . . . . . . . . . . 135
5.2 Field-Oriented Machine Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Contents xv
5.3 Control of Separately Excited DC Machines. . . . . . . . . . . . . . . . 138
5.3.1 Controller Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
5.3.2 Operational Drive Boundaries . . . . . . . . . . . . . . . . . . . . . . 139
5.3.3 Use of Current Source IRTF Based Model . . . . . . . . . . . 146
5.3.4 Use of a Voltage Source with a Model Based Current
Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
5.4 Tutorials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
5.4.1 Tutorial 1: Current Source Model of a Brushed DC
Machine with Segmented Commutation Module . . . . . . 150
5.4.2 Tutorial 2: Modeling of a Current and Voltage Source
Connected Brushed DC Motor . . . . . . . . . . . . . . . . . . . . . 152
5.4.3 Tutorial 3: Current Source Connected Brushed DC
Motor with Field Weakening Controller . . . . . . . . . . . . . 154
5.4.4 Tutorial 4: DC Drive Operating under Model Based
Current Control and a Field Weakening Controller . . . . 157
5.4.5 Tutorial 5: DC Drive with Model Based Current
Control and Shaft Speed Control Loop . . . . . . . . . . . . . . 159
5.4.6 Tutorial 6: Experimental Results of DC Machine . . . . . 161
6 Synchronous Machine Modeling Concepts . . . . . . . . . . . . . . . . 165
6.1 Non-salient Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
6.1.1 Symbolic Model of a Non-salient Machine . . . . . . . . . . . 166
6.1.2 Generic Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
6.1.3 Rotor-Oriented Model: Non-salient Synchronous
Machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
6.1.4 Steady-State Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
6.2 Salient Synchronous Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
6.2.1 Generic Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
6.2.2 Rotor-Oriented Model of the Salient Synchronous
Machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
6.2.3 Steady-State Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
6.3 Tutorials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
6.3.1 Tutorial 1: Dynamic Model of a Non-salient
Synchronous Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
6.3.2 Tutorial 2: Steady-State Analysis of a Non-salient
Synchronous Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
6.3.3 Tutorial 3: Stator Flux Linkage Excited Dynamic
Model of a Synchronous Machine to Demonstrate the
Rotor Flux Oriented Concept . . . . . . . . . . . . . . . . . . . . . . 187
6.3.4 Tutorial 4: Dynamic Model of a Synchronous Machine
with Adjustable Saliency . . . . . . . . . . . . . . . . . . . . . . . . . . 189
6.3.5 Tutorial 5: Steady-State Analysis of a Salient
Synchronous Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
xvi Contents
7 Control of Synchronous Machine Drives . . . . . . . . . . . . . . . . . . 193
7.1 Controller Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
7.2 Control of Non-salient Synchronous Machines . . . . . . . . . . . . . . 195
7.2.1 Operation under Drive Limitations . . . . . . . . . . . . . . . . . 196
7.2.2 Field Weakening Operation for PM Non-salient Drives 200
7.2.3 Field Weakening for PM Non-salient Drives, with
Constant Stator Flux Linkage Control . . . . . . . . . . . . . . 206
7.2.4 Field Weakening for Electrically Excited Non-salient
Drive, with Constant Stator Flux and Unity Power
Factor Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
7.3 Control of Salient Synchronous Machines . . . . . . . . . . . . . . . . . . 213
7.4 Field-Oriented Control of a Current-Controlled Synchronous
Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
7.5 Field-Oriented control of a Voltage-Source Connected
Synchronous Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
7.6 Tutorials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
7.6.1 Tutorial 1: Non-salient Synchronous Drive . . . . . . . . . . . 222
7.6.2 Tutorial 2: Non-salient Synchronous Drive, Constant
Stator Flux Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
7.6.3 Tutorial 3: Non-salient Synchronous Drive, Unity
Power Factor Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
7.6.4 Tutorial 4: Salient Synchronous Drive . . . . . . . . . . . . . . . 228
7.6.5 Tutorial 5: PM Salient Synchronous Drive with Model
Based Current Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
7.6.6 Tutorial 6: Experimental Results of a PM Non-salient
Synchronous Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
8 Induction Machine Modeling Concepts . . . . . . . . . . . . . . . . . . . 239
8.1 Induction Machine with Squirrel-Cage Rotor . . . . . . . . . . . . . . . 239
8.2 Zero Leakage Inductance Models of Induction Machines . . . . 241
8.2.1 IRTF Based Model of the Induction Machine . . . . . . . . 241
8.2.2 Field-Oriented Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
8.3 Machine Models with Leakage Inductances. . . . . . . . . . . . . . . . . 247
8.3.1 Fundamental IRTF Based Model . . . . . . . . . . . . . . . . . . . 247
8.3.2 Universal IRTF Based Model . . . . . . . . . . . . . . . . . . . . . . 248
8.3.2.1 Rotor Flux Based IRTF Model . . . . . . . . . . . . . 254
8.3.2.2 Stator Flux Based IRTF Model . . . . . . . . . . . . . 256
8.3.3 Universal Stationary Frame Oriented Model . . . . . . . . . 257
8.3.4 Universal Field-Oriented (UFO) Model . . . . . . . . . . . . . . 258
8.3.4.1 Rotor Flux Oriented Model . . . . . . . . . . . . . . . . 261
8.3.4.2 Stator Flux Oriented Model . . . . . . . . . . . . . . . . 264
8.3.5 Synchronous Frame Oriented Heyland diagram . . . . . . . 267
8.3.6 Steady-State Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
8.4 Parameter Identification and Estimates. . . . . . . . . . . . . . . . . . . . 270
8.5 Single-Phase Induction Machines . . . . . . . . . . . . . . . . . . . . . . . . . 273
Contents xvii
8.5.1 Steady-State Analysis of Capacitor-Run Single-Phase
Induction Machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
8.6 Tutorials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
8.6.1 Tutorial 1: Simplified Induction Machine Model . . . . . . 285
8.6.2 Tutorial 2: Universal Induction Machine Model . . . . . . . 286
8.6.3 Tutorial 3: Universal Stationary Oriented Induction
Machine Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
8.6.4 Tutorial 4: Current Controlled Zero Leakage Flux
Oriented Machine Model . . . . . . . . . . . . . . . . . . . . . . . . . . 289
8.6.5 Tutorial 5: Current Controlled Universal Field
Oriented (UFO) Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
8.6.6 Tutorial 6: Parameter Estimation Using Name Plate
Data and Known Stator Resistance . . . . . . . . . . . . . . . . . 292
8.6.7 Tutorial 7: Grid Connected Induction Machine . . . . . . . 294
8.6.8 Tutorial 8: Steady State Characteristics, Grid
Connected Induction Machine . . . . . . . . . . . . . . . . . . . . . . 296
8.6.9 Tutorial 9: Grid Connected Single-Phase Induction
Machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
9 Control of Induction Machine Drives . . . . . . . . . . . . . . . . . . . . . 303
9.1 Voltage-to-Frequency (V/f) Control . . . . . . . . . . . . . . . . . . . . . . 303
9.1.1 Simple V/f Speed Controller . . . . . . . . . . . . . . . . . . . . . . . 305
9.1.2 V/f Torque Controller with Shaft Speed Sensor . . . . . . 309
9.2 Field-Oriented Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
9.2.1 Controller Principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
9.2.2 Controller Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
9.2.3 UFO Module Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
9.2.4 IFO Using Measured Shaft Speed or Shaft Angle . . . . . 316
9.2.5 DFO with Air-Gap Flux Sensors . . . . . . . . . . . . . . . . . . . 318
9.2.6 DFO with Sensor Coils . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
9.2.7 DFO with Voltage and Current Transducers . . . . . . . . . 320
9.2.8 DFO with Current and Shaft Speed Transducers . . . . . 321
9.3 Operational Drive Boundaries for Rotor Flux Oriented
Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
9.4 Field Weakening for Rotor Flux Oriented IM Drives . . . . . . . . 327
9.5 Interfacing FOC with Current-Controlled IM. . . . . . . . . . . . . . . 331
9.6 Interfacing FOC with Voltage-Source-Connected IM . . . . . . . . 333
9.7 Tutorials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
9.7.1 Tutorial 1: Simplified V/f Drive . . . . . . . . . . . . . . . . . . . . 337
9.7.2 Tutorial 2: V/f Drive with Shaft Speed Sensor . . . . . . . 340
9.7.3 Tutorial 3: Universal Field-Oriented (UFO) Control
with a Current Source Based Machine Model and
Known Shaft Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
9.7.4 Tutorial 4: Induction Machine Drive with UFO
Controller and Model-Based Current Control . . . . . . . . 348
xviii Contents
9.7.5 Tutorial 5: Rotor Flux Oriented Induction Machine
Drive with UFO Controller and Field Weakening
Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
9.7.6 Tutorial 6: Experimental Results of an Induction
Machine with UFO Controller . . . . . . . . . . . . . . . . . . . . . . 357
10 Switched Reluctance Drive Systems . . . . . . . . . . . . . . . . . . . . . . 361
10.1 Basic Machine Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363
10.2 Operating Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
10.2.1 Single-Phase Motor Concept . . . . . . . . . . . . . . . . . . . . . . . 365
10.2.2 Torque Production and Energy Conversion Principles . 367
10.2.3 Single-Phase Switched Reluctance Machine: A Linear
Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
10.2.4 Switched Reluctance Modeling Concepts . . . . . . . . . . . . 380
10.2.5 Representation of the Magnetization Characteristics . . 383
10.2.6 Converter and Control Concepts . . . . . . . . . . . . . . . . . . . 384
10.2.7 Example of Low and High Speed Drive Operation . . . . 387
10.3 Multi-Phase Machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
10.3.1 Converter Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
10.4 Control of Switched Reluctance Drives . . . . . . . . . . . . . . . . . . . . 396
10.4.1 Drive Characteristics and Operating Range . . . . . . . . . . 396
10.4.2 Drive Operational Aspects . . . . . . . . . . . . . . . . . . . . . . . . . 398
10.4.3 Direct Instantaneous Torque Control (DITC) . . . . . . . . 409
10.5 Switched Reluctance Demonstration Machine . . . . . . . . . . . . . . 416
10.6 Tutorials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
10.6.1 Tutorial 1: Analysis of a Linear SR Machine, with
Current Excitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
10.6.2 Tutorial 2: Non-linear SR Machine, with Voltage
Excitation and Hysteresis Current Controller . . . . . . . . 424
10.6.3 Tutorial 3: Non-linear SR Machine, with Voltage
Excitation and PWM Controller . . . . . . . . . . . . . . . . . . . 427
10.6.4 Tutorial 4: Four-Phase Non-linear SR Model, with
Voltage Excitation and Hysteresis Control . . . . . . . . . . . 430
10.6.5 Tutorial 5: Four-Phase Non-linear SR Model, with
Voltage Excitation and Direct Instantaneous Torque
Control (DITC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433

 

Advanced Electrical Drives (Analysis, Modeling, Control) by Rik De Doncker

    Attachment Lists

    If download doesn't start in application like IDM then press Alt + click on download button to start download
  • advancedelectricaldrives rick de roncker.pdf (Size: 11504.51KB) Dowland
Share With Friends :  

No any Comment yet!