Control of Electric Machine Drive System (IEEE Press Series on Power Engineering)

415 Pages·2011·15.04 MB·English

Control of Electric
Machine Drive Systems
IEEE Press
445HoesLane
Piscataway,NJ 08854
IEEE Press EditorialBoard
Lajos Hanzo,Editor inChief
R. Abari M. El-Hawary S. Nahavandi
J.Anderson B. M. Hammerli W. Reeve
F. Canavero M. Lanzerotti T. Samad
T. G.Croda O. Malik G.Zobrist
Kenneth Moore,Director ofIEEE Book andInformationServices (BIS)
Control of Electric
Machine Drive Systems
Seung-Ki Sul
Copyright(cid:1)2011bytheInstituteofElectricalandElectronicsEngineers,Inc.
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LibraryofCongressCataloging-in-PublicationData:
Sul,Seung-Ki.
Controlofelectricmachinedrivesystem/Seung-KiSul.
p.cm.– (IEEEPressseriesonpowerengineering;55)
Includesbibliographicalreferences.
Summary:“Thisbookisbasedontheauthor’sindustryexperience.Itcontainsmanyexercise
problemsthatengineerswouldexperienceintheirday-to-daywork.Thebookwaspublished
inKoreanat500pagesasatextbook. Thebookwillcontainover300figures”.–Providedbypublisher.
Summary:“Thisbookisbasedontheauthor’sindustryexperience.Itcontainsmanyexercise
problemsthatengineerswouldexperienceintheirday-to-daywork”–Providedbypublisher.
ISBN978-0-470-59079-9(hardback)
1. Electricdriving–Automaticcontrol. I.Title.
TK4058.S85132011
621.46–dc22
2010039507
PrintedintheUnitedStatesofAmerica
eBook:978-0-470-87655-8
oBook:978-0-470-87654-1
10 9 8 7 6 5 4 3 2 1
To my father, who lived his whole life
as an unknown engineer.
Contents
Preface xiii
1 Introduction 1
1.1 Introduction 1
1.1.1 ElectricMachineDriveSystem 4
1.1.2 TrendofDevelopmentofElectricMachineDriveSystem 5
1.1.3 TrendofDevelopmentofPowerSemiconductor 7
1.1.4 TrendofDevelopmentofControlElectronics 8
1.2 Basicsof Mechanics 8
1.2.1 BasicLaws 9
1.2.2 ForceandTorque 9
1.2.3 MomentofInertiaofaRotatingBody 11
1.2.4 EquationsofMotionforaRigidBody 13
1.2.5 PowerandEnergy 17
1.2.6 ContinuityofPhysicalVariables 18
1.3 Torque Speed CurveofTypical Mechanical Loads 18
1.3.1 Fan,Pump,andBlower 18
1.3.2 HoistingLoad;Crane,Elevator 20
1.3.3 TractionLoad(ElectricVehicle,ElectricTrain) 21
1.3.4 TensionControlLoad 23
Problems 24
References 35
2 Basic Structureand Modelingof Electric Machines
and Power Converters 36
2.1 Structure and Modeling ofDC Machine 36
2.2 Analysis of Steady-State Operation 41
2.2.1 SeparatelyExcitedShuntMachine 42
2.2.2 SeriesExcitedDCMachine 45
2.3 Analysis of TransientStateof DCMachine 46
2.3.1 SeparatelyExcitedShuntMachine 47
2.4 Power Electronic Circuit toDriveDC Machine 50
2.4.1 StaticWard–LeonardSystem 51
2.4.2 Four-QuadrantsChopperSystem 52
2.5 RotatingMagneticMotiveForce 53
2.6 Steady-StateAnalysis of aSynchronous Machine 58
vii
viii Contents
2.7 Linear Electric Machine 62
2.8 Capability Curveof SynchronousMachine 63
2.8.1 RoundRotorSynchronousMachinewithFieldWinding 63
2.8.2 PermanentMagnetSynchronousMachine 64
2.9 Parameter Variation ofSynchronous Machine 66
2.9.1 StatorandFieldWindingResistance 66
2.9.2 SynchronousInductance 66
2.9.3 BackEMFConstant 67
2.10 Steady-State Analysis ofInduction Machine 70
2.10.1 Steady-StateEquivalentCircuitofanInductionMachine 72
2.10.2 ConstantAirGapFluxOperation 77
2.11 Generator Operation ofan Induction Machine 79
2.12 VariationofParameters of anInduction Machine 81
2.12.1 VariationofRotorResistance,Rr 81
2.12.2 VariationofRotorLeakageInductance,Llr 82
2.12.3 VariationofStatorResistance,Rs 82
2.12.4 VariationofStatorLeakageInductance,Lls 83
2.12.5 VariationofExcitationInductance,Lm 84
2.12.6 VariationofResistanceRepresentingIronLoss,Rm 84
2.13 Classification ofInduction MachinesAccording
toSpeed–Torque Characteristics 84
2.14 Quasi-TransientState Analysis 87
2.15 Capability Curveofan InductionMachine 88
2.16 Comparison ofAC Machine and DCMachine 90
2.16.1 ComparisonofaSquirrelCageInductionMachineandaSeparately
ExcitedDCMachine 90
2.16.2 ComparisonofaPermanentMagnetACMachineandaSeparately
ExcitedDCMachine 92
2.17 Variable-Speed ControlofInduction Machine Based on
Steady-State Characteristics 92
2.17.1 VariableSpeedControlofInductionMachinebyControlling
TerminalVoltage 93
2.17.2 VariableSpeedControlofInductionMachineBasedon
ConstantAir-GapFlux((cid:1)V=F)Control 94
2.17.3 VariableSpeedControlofInductionMachineBasedonActual
SpeedFeedback 95
2.17.4 EnhancementofConstantAir-GapFluxControlwithFeedback
ofMagnitudeofStatorCurrent 96
2.18 Modeling ofPowerConverters 96
2.18.1 Three-PhaseDiode/ThyristorRectifier 97
2.18.2 PWMBoostRectifier 98
2.18.3 Two-QuadrantsBidirectionalDC/DCConverter 101
2.18.4 Four-QuadrantsDC/DCConverter 102
2.18.5 Three-PhasePWMInverter 103
2.18.6 MatrixConverter 105
2.19 Parameter ConversionUsing PerUnit Method 106
Problems 108
References 114
Contents ix
3 Reference Frame Transformationand Transient State Analysis
ofThree-Phase AC Machines 116
3.1 ComplexVector 117
3.2 d–q–n Modeling ofan InductionMachine Based on Complex
Space Vector 119
3.2.1 EquivalentCircuitofanInductionMachineatd–q–nAXIS 120
3.2.2 TorqueoftheInductionMachine 125
3.3 d–q–n Modeling ofa SynchronousMachine Based on Complex
Space Vector 128
3.3.1 EquivalentCircuitofaSynchronousMachineatd–q–nAXIS 128
3.3.2 TorqueofaSynchronousMachine 138
3.3.3 EquivalentCircuitandTorqueofaPermanentMagnet
SynchronousMachine 140
3.3.4 SynchronousReluctanceMachine(SynRM) 144
Problems 146
References 153
4 Design of Regulators for Electric Machines and PowerConverters 154
4.1 ActiveDamping 157
4.2 CurrentRegulator 158
4.2.1 MeasurementofCurrent 158
4.2.2 CurrentRegulatorforThree-Phase-ControlledRectifier 161
4.2.3 CurrentRegulatorforaDCMachineDrivenbyaPWMChopper 166
4.2.4 Anti-Wind-Up 170
4.2.5 ACCurrentRegulator 173
4.3 Speed Regulator 179
4.3.1 MeasurementofSpeed/PositionofRotorofanElectricMachine 179
4.3.2 EstimationofSpeedwithIncrementalEncoder 182
4.3.3 EstimationofSpeedbyaStateObserver 189
4.3.4 PI/IPSpeedRegulator 198
4.3.5 EnhancementofSpeedControlPerformancewithAcceleration
Information 204
4.3.6 SpeedRegulatorwithAnti-Wind-UpController 206
4.4 Position Regulator 208
4.4.1 Proportional–ProportionalandIntegral(P–PI)Regulator 208
4.4.2 Feed-ForwardingofSpeedReference
andAccelerationReference 209
4.5 Detection ofPhase Angle of AC Voltage 210
4.5.1 DetectionofPhaseAngleonSynchronousReferenceFrame 210
4.5.2 DetectionofPhaseAngleUsingPositiveSequenceVoltage
onSynchronousReferenceFrame 213
4.6 Voltage Regulator 215
4.6.1 VoltageRegulatorforDCLinkofPWMBoostRectifier 215
Problems 218
References 228
x Contents
5 Vector Control 230
5.1 InstantaneousTorque Control 231
5.1.1 SeparatelyExcitedDCMachine 231
5.1.2 Surface-MountedPermanentMagnetSynchronousMotor(SMPMSM) 233
5.1.3 InteriorPermanentMagnetSynchronousMotor(IPMSM) 235
5.2 Vector Controlof InductionMachine 236
5.2.1 DirectVectorControl 237
5.2.2 IndirectVectorControl 243
5.3 Rotor FluxLinkage Estimator 245
5.3.1 VoltageModelBasedonStatorVoltageEquationofan
InductionMachine 245
5.3.2 CurrentModelBasedonRotorVoltageEquationofan
InductionMachine 246
5.3.3 HybridRotorFluxLinkageEstimator 247
5.3.4 EnhancedHybridEstimator 248
5.4 FluxWeakeningControl 249
5.4.1 ConstraintsofVoltageandCurrenttoACMachine 249
5.4.2 OperatingRegionofPermanentMagnetACMachineinCurrent
PlaneatRotorReferenceFrame 250
5.4.3 FluxWeakeningControlofPermanentMagnetSynchronous
Machine 257
5.4.4 FluxWeakeningControlofInductionMachine 262
5.4.5 FluxRegulatorofInductionMachine 267
Problems 269
References 281
6 Position/SpeedSensorless Control ofAC Machines 283
6.1 SensorlessControlofInduction Machine 286
6.1.1 ModelReferenceAdaptiveSystem(MRAS) 286
6.1.2 AdaptiveSpeedObserver(ASO) 291
6.2 SensorlessControlofSurface-MountedPermanent Magnet
SynchronousMachine (SMPMSM) 297
6.3 SensorlessControlofInterior PermanentMagnetSynchronous
Machine (IPMSM) 299
6.4 SensorlessControlEmploying High-FrequencySignalInjection 302
6.4.1. InherentlySalientRotorMachine 304
6.4.2 ACMachinewithNonsalientRotor 305
Problems 317
References 320
7 PracticalIssues 324
7.1 Output Voltage DistortionDue toDeadTime andIts
Compensation 324
7.1.1 CompensationofDeadTimeEffect 325
Contents xi
7.1.2 ZeroCurrentClamping(ZCC) 327
7.1.3 VoltageDistortionDuetoStrayCapacitanceofSemiconductor
Switches 327
7.1.4 PredictionofSwitchingInstant 330
7.2 Measurement ofPhase Current 334
7.2.1 ModelingofTimeDelayofCurrentMeasurementSystem 334
7.2.2 OffsetandScaleErrorsinCurrentMeasurement 337
7.3 Problems Due toDigital SignalProcessing ofCurrent
Regulation Loop 342
7.3.1 ModelingandCompensationofCurrentRegulationError
DuetoDigitalDelay 342
7.3.2 ErrorinCurrentSampling 346
Problems 350
References 353
AppendixA Measurement and Estimationof Parameters ofElectric
Machinery 354
A.1 Parameter Estimation 354
A.1.1 DCMachine 355
A.1.2 EstimationofParametersofInductionMachine 357
A.2 Parameter Estimation of Electric Machines Using Regulators
ofDriveSystem 361
A.2.1 FeedbackControlSystem 361
A.2.2 BackEMFConstantofDCMachine,K 363
A.2.3 StatorWindingResistanceofThree-PhaseACMachine,Rs 363
A.2.4 InductionMachineParameters 365
A.2.5 PermanentMagnetSynchronousMachine 370
A.3 Estimation of Mechanical Parameters 374
A.3.1 EstimationBasedonMechanicalEquation 374
A.3.2 EstimationUsingIntegralProcess 376
References 380
Appendix B d–q ModelingUsing MatrixEquations 381
B.1 Reference Frameand Transformation Matrix 381
B.2 d–qModelingof Induction Machine Using Transformation
Matrix 386
B.3 d–qModelingof SynchronousMachine Using Transformation
Matrix 390
Index 391
IEEE Press Series onPower Engineering 401