Modeling, Simulation and Control of Electrical Drives (Control, Robotics and Sensors)

✍ Scribed by Mohammed Fazlur Rahman (editor), Sanjeet K. Dwivedi (editor)

• Publisher: The Institution of Engineering and Technology
• Year: 2019
• Tongue: English
• Leaves: 741
• Category: Library

✦ Synopsis

Thanks to advances in power electronics device design, digital signal processing technologies and energy efficient algorithms, ac motors have become the backbone of the power electronics industry. Variable frequency drives (VFD's) together with IE3 and IE4 induction motors, permanent magnet motors, and synchronous reluctance motors have emerged as a new generation of greener high-performance technologies, which offer improvements to process and speed control, product quality, energy consumption and diagnostics analytics.

Primarily intended for professionals and advanced students who are working on sensorless control, predictive control, direct torque control, speed control and power quality and optimisation techniques for electric drives, this edited book surveys state of the art novel control techniques for different types of ac machines. The book provides a framework of different modeling and control algorithms using MATLAB®/Simulink®, and presents design, simulation and experimental verification techniques for the design of lower cost and more reliable and performant systems.

✦ Table of Contents

Cover
Contents
About the editors
Preface
Foreword
1 Introduction to electric drives
1.1 The role of motor drives in modern industry and energy usage
1.2 Controller hierarchy for electric drives
1.3 Quadrant operation of a drive and typical load torque
1.4 Power switch and integrated control devices for drive systems
1.5 Overview of chapters
List of symbols
Glossary of terms
Further reading
2 Electric machines, dynamic models and sensors in drive systems
2.1 Introduction
2.2 Electric machines and torque–speed (T–ω) boundaries
2.3 T–ω characteristics within torque–speed boundaries
2.4 Dynamic models of machines and simulation
2.4.1 Dynamic model of DC machines
2.4.2 Dynamics model of synchronous machines in rotor reference frame [1]
2.4.2.1 Machine inductance and flux linkages
2.4.2.2 Voltage equations
2.4.2.3 Rotor flux-oriented control (RFOC) or vector control [2,3]
2.4.3 Dynamic model of induction machines in synchronous reference frame
2.4.3.1 Machine inductance and flux linkages
2.4.3.2 Voltage, developed power and torque equations
2.4.3.3 Conditions for rotor flux-oriented control
2.5 Simulation of drive systems
2.5.1 Tuning of an electric drive using a cascaded structure [4]
2.5.2 Voltage reference amplitude limitation
2.5.3 Pulse-width modulation block
2.6 Sensors in drive systems
2.6.1 Current sensors for electric drive systems
2.6.2 Speed sensors for electric drive systems
2.7 Recent developments in PM machines; with reference to developments of other types: DCM and IM
2.7.1 Developments in winding topologies
2.7.2 Emerging electric machine topologies
2.7.3 Permanent magnet synchronous machines (PMSMs) with deep flux weakening capability
2.7.4 Control of the PMSM at deep flux weakening
2.8 Summary
List of symbol
Glossary of terms
References
3 Converters for drives
3.1 Introduction
3.2 Three-phase two-level inverter
3.2.1 Sinusoidal PWM
3.2.2 Space Vector PWM
3.2.3 Carrier-based implementation of SVPWM
3.3 Three-phase multilevel inverter
3.3.1 Sinusoidal PWM
3.3.2 Space vector PWM
3.3.3 Carrier-based implementation of the three-level SVPWM [14]
3.3.4 Neutral-point voltage control
3.4 Summary
List of symbols
Glossary of terms
References
4 DC motor drives
4.1 Introduction
4.2 Modeling of DC motor
4.3 Classification of DC motor drives
4.4 Converters for DC motor drives
4.4.1 Single-phase controlled AC–DC converters
4.4.2 Three-phase controlled AC–DC converters
4.4.3 Single-phase uncontrolled AC–DC converters
4.4.4 Three-phase uncontrolled AC–DC converters
4.4.5 Choppers
4.4.6 DC–DC converters
4.5 Control schemes for DC motor drives
4.5.1 Controlled AC–DC converter-based DC motor drive
4.5.2 Uncontrolled AC–DC converter–chopper-based DC motor drive
4.5.3 Uncontrolled AC–DC converter-DC–DC converter-based DC motor drive
4.6 PI controller design
4.7 Power quality control and sensor reduction for DC motor drives
4.8 Modeling of controllers and PWM generators
4.8.1 Voltage controller
4.8.2 Reference current generator for power quality control
4.8.3 PWM current controller
4.8.4 PWM signal generator for voltage follower control
4.8.5 PWM signal generation for single switch converters
4.8.6 PWM signal generation for push–pull converter
4.8.7 PWM signal generation for half bridge converter
4.8.8 PWM signal generation for full-bridge converter
4.9 Performance simulation of DC motor drives
4.10 DC series motor control
4.11 Summary
List of symbols
Glossary of terms
References
5 Synchronous motor drives
5.1 Introduction
5.2 Classification of synchronous motor drives
5.3 Magnet torque and reluctance torque-based classification
5.4 Comparison of IPMSM and PMaSynRM
5.5 Different control techniques for various synchronous speed motors
5.6 Operating principle of vector control technique
5.7 Mathematical model of vector-controlled PMSM drive
5.7.1 Modeling of speed controllers
5.7.1.1 Proportional integral (PI) controller
5.7.1.2 Sliding mode controller (SMC)
5.7.1.3 Fuzzy pre-compensated PI controller
5.7.1.4 Hybrid fuzzy PI controller
5.7.2 Modeling of reference winding current generation
5.7.3 Modeling of PWM current controller
5.7.4 Modeling of PMSM
5.7.5 Modeling of voltage source inverter
5.8 MATLAB-based model of vector-controlled PMSM drive system
5.8.1 Modeling using power system blockset (PSB) toolbox
5.8.1.1 Speed controller
5.8.1.2 Field weakening controller
5.8.1.3 Reference winding current generation
5.8.1.4 Current controlled pulse width modulator (CC-PWM)
5.9 Description of DSP-based vector-controlled PMSM drive
5.9.1 Development of signal conditioning circuits
5.9.2 Development of power circuit of the drive
5.10 DSP-based software implementation of vector-controlled PMSM drive
5.10.1 Reference speed input
5.10.2 Sensing of rotor position signals
5.10.3 Speed sensing
5.10.4 Speed controller
5.10.5 Reference winding current generation
5.10.6 Switching signal generation for voltage source inverter
5.11 Testing of vector-controlled PMSM drive
5.11.1 Testing of control circuit
5.11.2 Testing of power circuit
5.12 Results and discussion
5.12.1 Starting dynamics of vector-controlled PMSM drive
5.12.2 Load perturbation performance of vector-controlled PMSM drive
5.12.3 Speed reversal dynamics of vector-controlled PMSM drive
5.12.4 Comparative study among different speed controllers
5.13 Sensor reduction in vector- controlled permanent magnet synchronous motor drive
5.13.1 Sensor requirements in vector-controlled PMSM drive system
5.13.2 Review of mechanical sensor reduction techniques in PMSM drive
5.13.2.1 Back emf-based position estimation technique
5.13.2.2 Stator voltages and winding current-based techniques
5.13.2.3 Observer-based sensorless estimation of position and speed
5.13.2.4 High-frequency carrier signal injection method for estimation of position and speed
5.13.2.5 Stochastic filtering-based sensorless estimation of position and speed
5.13.2.6 Current and voltage model-based sensorless algorithms
5.13.2.7 Artificial intelligence-based position and speed estimators
5.13.3 Electrical sensor reduction in PMSM drive
5.14 Sensorless vector-controlled PMSM drive
5.14.1 Stator voltage estimation
5.14.2 Winding current estimation
5.14.3 Flux estimation
5.14.4 Position estimation
5.14.5 Speed estimation
5.15 MATLAB-based model of sensorless vector-controlled PMSM drive
5.15.1 Flux estimator
5.15.2 Position and speed estimation
5.15.3 Speed controller
5.15.4 Reference winding current generation
5.15.5 Current controlled pulse width modulator (CC-PWM)
5.16 DSP-based hardware implementation of sensorless vector-controlled PMSM drive
5.16.1 Development of signal conditioning circuits
5.16.2 Development of power circuit of the drive
5.17 DSP-based software implementation of sensorless vector-controlled PMSM drive
5.17.1 Reference speed input
5.17.2 Estimation of stator flux and position of rotor
5.17.3 Speed estimation
5.17.4 Speed controller
5.17.5 Reference winding current generation
5.17.6 Switching signal generation for voltage source inverter
5.18 Testing of sensorless vector-controlled PMSM drive
5.18.1 Testing of control circuit
5.18.2 Testing of power circuit
5.19 Results and discussion
5.19.1 Starting dynamics of sensorless PMSM drive
5.19.2 Load perturbation response of sensorless PMSM drive
5.19.3 Speed reversal dynamics of sensorless PMSM drive
5.19.4 Steady-state performance of sensorless PMSM drive
5.20 Summary
List of symbols
Glossary of terms
References
6 PM synchronous machine drives
6.1 Introduction
6.2 PM machine equivalent circuit models
6.3 IPM machine torque production characteristics
6.3.1 Basics of torque production in IPM machines
6.3.2 PMSM torque production characteristics in dq current plane
6.3.3 Current limit circle
6.3.4 Impact of magnetic saturation on maximum torque-per-Amp trajectories
6.4 Vector control of PM machine
6.4.1 Review of basic vector control principles
6.4.2 Application of vector control to SPM and IPM machines
6.4.3 Introduction to self-sensing techniques for vector control drives
6.5 IPM machine capability curves
6.5.1 Basic principles
6.5.2 PMSM circle diagrams and capability curves
6.5.3 Three cases of PM machine capability curves
6.5.3.1 Case 1: Ich>Imax
6.5.3.2 Case 2: Ich = Imax
6.5.3.3 Case 3: Ich<Imax
6.5.3.4 High-speed capability curves for surface PM machines
6.6 PM machine design space
6.7 Flux-weakening control of PM machines
6.7.1 Introduction to basic principles of flux-weakening control
6.7.2 Feedforward vs. closed-loop flux-weakening control algorithms
6.7.2.1 Feedforward flux-weakening control
6.7.2.2 Closed-loop flux-weakening control
6.7.3 Six-step voltage operation for flux-weakening algorithms
6.8 Summary
List of symbols
Glossary of terms
References
7 Control of PM brushless DC motor drives
7.1 Introduction
7.1.1 Construction of BLDC motor
7.1.2 Operation principle of BLDC motor
7.1.3 Specific features of BLDC motor drives
7.2 Modeling of brushless DC motor
7.2.1 Dynamic model
7.2.2 Block diagram of BLDCM model
7.2.3 Torque-speed characteristic
7.3 Phase-current control of brushless DC motor
7.3.1 Control system configuration
7.3.2 Simulation results
7.4 Torque ripple analysis and reduction techniques
7.5 Pseudo-vector control of BLDC motor
7.5.1 System configuration
7.5.2 Principle of pseudo-vector control
7.5.3 Simulation results and performance comparison
7.6 Control of BLDCM in high-speed region
7.6.1 Operation in high-speed region
7.6.2 Phase-advance approach to expand the speed range of BLDCM
7.6.3 Pseudo-vector control for high-speed range of BLDCM
7.6.4 Simulation results for high-speed operation using PVC
7.7 Summary
List of symbols
Glossary of terms
References
8 Switched reluctance motor drives
8.1 Principle of switched reluctance motor
8.1.1 Operation of SRM
8.1.1.1 Excitation characteristics
8.1.1.2 Torque generation
8.1.2 Characteristics of SRM
8.2 Design of switched reluctance motor
8.2.1 Selection of pole
8.2.2 Selection of phase number
8.2.3 Dimensions and parameters
8.3 Control of switched reluctance motor
8.3.1 Power converter
8.3.2 Switching angle control
8.3.2.1 Fixed angle control
8.3.2.2 Advanced angle control
8.3.2.3 Switch-off angle control
8.3.3 Current control
8.3.3.1 Single pulse control
8.3.3.2 Chopping control
8.3.3.3 Hysteresis control
8.3.4 Direct torque control
8.4 Modeling of switched reluctance motor
8.4.1 Equivalent circuit
8.4.2 Current waveform representation
8.4.3 Torque waveform representation
8.4.4 SRM control system
8.4.5 Example designs of control scheme
8.5 Emerging applications
8.5.1 Home appliances
8.5.1.1 Vacuum cleaner
8.5.1.2 Food blender
8.5.2 Industrial applications
8.5.2.1 Air blower
8.5.2.2 Hammer breaker
8.5.3 Electric vehicle application
8.5.3.1 Traction motor
8.5.3.2 Electric supercharger
8.6 Summary
List of symbols
Glossary of terms
References
9 Direct torque control of AC machines
9.1 Induction motor model
9.2 Two-level inverter voltage vector representation
9.3 DTC control principle
9.3.1 Flux and torque comparator
9.3.2 Optimum switching vector selection
9.3.2.1 Treatment during starting up of the drive
9.3.3 Motor model
9.4 Flux estimation approaches
9.4.1 Use of low-pass filters
9.4.2 Flux estimation with feedback
9.4.3 Application of hybrid flux estimators
9.4.4 Other methods for estimation of stator flux
9.4.5 Speed-sensorless operation
9.5 Simulation of DTC control
9.6 Performance enhancement of classical DTC scheme
9.6.1 Reduction in torque and flux ripple using alternate switching tables
9.6.2 DTC-SVM control [11]
9.6.3 Predictive torque control
9.7 Direct torque control of synchronous motors
9.8 Industrial adaptation of DTC schemes
9.9 Summary
List of symbols
Glossary of terms
References
10 Direct torque control of PM synchronous motor drives
10.1 Introduction
10.1.1 The PMSM model and RFOC
10.1.2 Current control trajectories for PMSM [8,9]
10.1.3 Field weakening under voltage limit
10.2 DTC for PMSM
10.2.1 Voltage space vector selection [10,11]
10.2.2 Stability criteria for DTC
10.2.3 Torque and flux linkage control of a PMSM by applying voltage vectors
10.3 DTC with fixed switching frequency and reduced torque and flux ripple
10.4 Closed-loop flux and torque estimation
10.5 Control trajectories with DTC [10,11]
10.5.1 The MTPA trajectory under DTC
10.5.2 Current and voltage trajectories in the T-hs plane
10.5.3 Performance of PMSM under DTC with trajectory following
10.6 Summary
List of symbols
Glossary of terms
References
General reading on DTC
11 Matrix converter-driven AC motor drives
11.1 Matrix converter
11.1.1 Fundamentals of MC
11.1.2 Implementation of MC
11.1.2.1 BDS realization
11.1.2.2 Input filter design
11.1.2.3 Power circuit layout
11.1.2.4 Protections
11.1.3 Current commutation strategies
11.1.3.1 Input voltage sign-based commutation
11.1.3.2 Current direction-based commutation
11.1.4 Modulation techniques
11.1.4.1 Alesina–Venturini (AV) method
11.1.4.2 Optimum AV method
11.1.4.3 Scalar modulation methods
11.1.4.4 Carrier-based modulation method [41]
11.1.4.5 SVM method
11.1.5 IPF compensation for MC
11.1.5.1 Open-loop IPF compensation
11.1.5.2 Closed-loop IPF compensation
11.2 DTC for MC drive
11.2.1 DTC of MC drives using three hysteresis comparators
11.2.2 An improved DTC for MCs
11.2.3 Experimental results
11.2.4 DTFC for MC-fed PMSM drives by using ISVM
11.2.4.1 A Mathematical model of IPMSM in the stator flux (x-y) reference frame
11.2.4.2 Design of the torque and flux PI controllers
11.2.4.3 Experimental results of DTFC MC drive
11.3 IMC-driven AC drives
11.3.1 Modulation scheme for IMC
11.3.1.1 SVM for rectifier stage
11.3.1.2 SVM for inverter stage
11.3.2 Commutation issue for IMC
11.3.3 Rotor flux-oriented control of induction machine (IM)-driven by IMC
11.3.3.1 Principle of rotor-flux orientation [57–59]
11.3.3.2 Indirect rotor flux-oriented vector control of IM
11.4 Summary
List of symbols
Glossary of term
References
12 An online parameter identification method for AC drives with induction motors
12.1 Introduction
12.2 FOC design
12.2.1 Controller tuning
12.2.1.1 Current loop tuning
12.2.1.2 Flux loop tuning
12.2.1.3 Speed loop tuning
12.3 Description of the test bed
12.4 dSPACE AutoBox
12.4.1 DS1007 PPC processor board
12.4.2 DS5001 digital waveform capture board
12.4.3 DS4002 timing and digital I/O board
12.4.4 DS2004 high-speed A/D board
12.4.5 Hardware scheme and interface with dSPACE: I/O boards
12.5 IGBT inverter
12.6 Induction motor
12.7 Sensors of current, voltage and speed
12.7.1 Encoder configuration
12.7.2 Current sensor configuration
12.7.3 Voltage sensor configuration
12.8 Online estimation of the parameters: method and implementation
12.8.1 Description of the method
12.8.2 Description and realization of the signal processing system
12.8.3 Anti-aliasing filter
12.8.4 Digital processing
12.9 Experimental results
12.10 Summary
Appendix
List of symbols
Glossary of terms
References
Further References
13 Sensorless control of IM drives
13.1 Introduction
13.2 Essentials of sensorless vector control
13.2.1 IM model and nomenclature
13.2.2 Dynamic model and principle for vector control
13.3 Flux estimation in DFO
13.3.1 Current model
13.3.2 Voltage model
13.3.3 Statically compensated VM
13.3.4 Combination of CM and VM
13.3.5 Reduced-order observer
13.3.6 Speed estimation
13.4 Flux estimation in IFO
13.4.1 Current model
13.4.2 Reduced-order observer
13.4.3 Voltage model
13.4.4 Statically compensated VM
13.4.5 Speed estimation
13.4.6 Inherently sensorless reduced-order observer
13.4.6.1 Inherently sensorless reduced-order observer recast as SCVM
13.4.6.2 Inherently sensorless CM
13.4.7 Speed estimation in an inherently sensorless scheme
13.5 Design for complete stability
13.6 Examples
13.6.1 Inherently sensorless reduced-order observer and SCVM
13.6.2 Sensorless CM
13.6.2.1 Inherently sensorless CM
13.6.3 Simulations
13.7 Conclusion
List of symbols
Glossary of terms
References
14 Sensorless control of PMSM drives
14.1 Introduction
14.2 Mathematical model of the PMSM
14.3 Open-loop back EMF estimator
14.4 Closed-loop speed-adaptive observer
14.5 Closed-loop speed non-adaptive observer
14.6 HF signal injection
14.7 Current slope measurement method
14.8 Summary
List of symbols
Glossary of terms
References
15 Predictive torque control of induction motor drive
15.1 Introduction
15.2 Comparison between the PTC and classical control strategies (FOC and DTC)
15.3 PTC System modelling
15.3.1 State-space representation of three-phase systems
15.3.2 Modelling of the IM
15.3.3 Modelling of the inverter
15.4 Basic structure and working principle of PTC
15.4.1 Estimation
15.4.2 Prediction
15.4.3 Cost function optimisation
15.4.4 Limitations of the FS-PTC
15.5 SPVs-based FS-PTC
15.5.1 Selecting prediction vectors
15.5.2 Optimum voltage vector selection
15.5.3 Average switching frequency reduction
15.5.4 Overall control structure of SPVs-based FS-PTC
15.5.5 SPVs-based FS-PTC algorithm
15.6 Computational efficiency improvement in the SPVs-based FS-PTC
15.7 Performance of an IM drive under FS-PTC
15.7.1 Steady-state behaviour
15.7.2 Transient capability under rated-speed reversal
15.7.3 The average switching frequency
15.7.4 Investigation of robustness against rated-load torque disturbance
15.7.5 Step rated-torque-transient characteristics
15.7.6 Step rated-speed-transient characteristics
15.8 Summary
List of symbols
Glossary of terms
References
16 Multiphase machine drives
16.1 Introduction
16.1.1 Definition of a multiphase drive
16.1.2 Advantages of multiphase drives
16.1.3 A brief history of multiphase motor drives
16.1.4 Applications
16.2 Multiphase electrical machines
16.2.1 VSD approach
16.2.1.1 Symmetrical machines
16.2.1.2 Asymmetrical machines
16.2.1.3 Features of VSD approach
16.2.1.4 Case study 1: asymmetrical six-phase IM
16.2.1.5 Case study 2: asymmetrical IPM machine
16.2.2 Multi-stator approach
16.2.2.1 Case study 3: asymmetrical 12-phase IM
16.2.3 Summary on multiphase machines
16.3 Multiphase power converters
16.3.1 Modulation strategies for multiphase inverters
16.3.2 Pulse width modulation
16.3.3 Voltage limits
16.3.3.1 Case study: sinusoidal operating conditions
16.3.3.2 Case study: five-phase inverters
16.3.3.3 Case study: seven-phase inverters
16.3.3.4 Effect of the zero-sequence component on the power losses
16.3.4 Space vector modulation
16.3.5 Analysis of the output current ripple
16.4 Control of multiphase drives
16.4.1 Field-oriented control
16.4.2 Direct torque control
16.4.3 Direct flux vector control
16.4.4 Model predictive control
16.5 Summary
List of symbols
Glossary of terms
References
17 Fractional-slot concentrated winding machines and drives
17.1 Definition of fractional-slot concentrated windings
17.2 Advantages of using concentrated windings
17.3 Challenges involved in using FSCW
17.4 Three- phase structures that can support FSCW
17.5 Comparison of SL and DL configurations
17.6 Criteria for choosing the optimum slot/pole combination
17.7 How to determine the winding layout
17.8 Calculation of the winding factor
17.8.1 EMF method
17.8.2 Winding function method
17.8.3 Closed-form expressions
17.8.3.1 Calculating distribution factor for fractional-slot windings
17.8.3.2 Calculating pitch factor for fractional-slot windings
17.8.4 Example of winding factor calculation using three methods
17.8.4.1 Using the EMF method
17.8.4.2 Using the winding function method
17.8.4.3 Using closed-form expressions
17.9 Design and analysis
17.10 Flux weakening
17.10.1 Same magnet flux linkage constraint
17.10.2 Inductance calculations
17.11 Losses in electrical machines equipped with FSCW
17.11.1 Rotor losses
17.11.2 End losses
17.11.3 AC losses in the windings
17.11.4 Loss reduction
17.12 Fault tolerance
17.13 Comparison of SPM versus IPM
17.14 Axial-flux, tubular, and flux-switching machines
17.15 Induction machines
17.16 Parasitic effects
17.17 Commercial applications and future evolution of research
17.18 Summary
List of symbols
Glossary of terms
References
Index
Back Cover