Professional Documents
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B.Chitti Babu
Member IEEE (USA), Student Member IET (UK)
CONTENTS Pre Requisite of Power Electronics System Power Electronic Systems Power Electronic Converters in Electrical Drives :: DC and AC Drives Modeling and Control of Electrical Drives :: Current controlled Converters :: Modeling of Power Converters :: Scalar control of IM
14 August 2009 B Chitti Babu, EE NIT Rourkela 2
TELEVISION
FUEL
COMMUNICATION
14 August 2009
3 Aalborg University,Denmark
Literature
Lectures
Problem analysis
Problem solving
Report
Tutorials
Experiments/ Prototyping
4
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Simulation Formulation
Observing the Physical system. Formulating the hypotheses or mathematical model to explain the observation. Predicting the behavior of the system from solutions or properties of the mathematical model. Testing the validity of the Hypotheses or Mathematical Model.
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Mathematical Models
Linear or Nonlinear Lumped or Distributed parameters Static & Dynamic Continuous or Discrete Deterministic or Stochastic
Courtesy: Dynamic Simulation of Electric MachineryBy Chee Mun Ong
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Simulation Packages
1)General Purpose: Equation Oriented in that they require input in the form of differential or algebraic equations. Eg:IESL, SABER, IMSL, ODEPAK & DASSL etc. 2)Application-Specific Packages: Ready to use models of commonly used components for a specific applications. Eg:SPICE2, EMTP, PSCAD etc. MATLAB & SIMULINK:They are Registered Trade mark of the THE MATHWORKS. Inc., USA
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Input Source
- AC - DC - unregulated
Reference
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Controlle r
B Chitti Babu, EE NIT Rourkela
vsw
11
Vak + ia
A
Vak +
A G
Vak + ia
ia
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iD
+
G
ic + VCE
VDS
S
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VL
+ V2
VC
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Input Source
- AC - DC - unregulated
Reference
Controlle r
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Power Electronic Systems Why Power Electronics ? Other factors: Improvements in power semiconductors fabrication
Power Integrated Module (PIM), Intelligent Power Modules (IPM)
ASICs
FPGA
DSPs
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AC motors - IM - PMSM
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Electric Motor
Mechanical Energy
POWER IN
Moto r
Loa d
Reference
Controller
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Power loss
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motor
pump
Power out
Power loss
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Power loss
26
motor
pump
Power out
Power loss
14 August 2009 Mainly in valve B Chitti Babu, EE NIT Rourkela
Power loss
27
Fixed speed
Variable speed
Improvements in energy utilization in electric motors give large impact to the overall energy consumption HOW ? Replacing fixed speed drives with variable speed drives Using the high efficiency motors Improves the existing power converterbased drive systems
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DC Drives
AC Drives
AC Source
DC Source
AC Source
DC Source
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FCC
32
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+
50Hz 1-phase
Vo =
2 Vm cos
-200 -400 0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
Vo
10
0 0.4
0.405
0.41
0.415
0.42
0.425
0.43
0.435
0.44
500
50Hz 3-phase
+ Vo
Vo = 3VL L , m cos
-500 0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
30
20
10
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0 0.4
0.405
0.41
0.415
0.42
0.425
0.43
0.435
0.44
34
+
50Hz 1-phase
Vo =
2 Vm cos
90o 180o
Vo
3VL L , m
50Hz 3-phase
+ Vo
Vo = 3VL L , m cos
90o 180o
3VL L , m
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ia + 3-phase supply Vt Q2 Q3
Vt
Q1 Q4
Ia
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3phase supply
+ Vt
3-phase supply
Q2 Q3 Q1 Q4
T
37
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F1 3-phase supply + R2 Va -
R1
F2
Q2 Q3 Q1 Q4
T
38
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iD
Firing Circuit
39
Uncontrolled rectifier
control
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control
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Ia
T1 conducts va = Vdc
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Ia
D2 conducts va = 0
T1 conducts va = Vdc
Va
Eb
Quadrant 1 The average voltage is made larger than the back emf
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Ia
D1 conducts va = Vdc
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Ia
T2 conducts va = 0
D1 conducts va = Vdc
Va
Eb
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Quadrant 2 The average voltage is made smallerr than the back emf, thus forcing the current to flow in the reverse direction B Chitti Babu,
EE NIT Rourkela
45
2vtri
vc
+ vA -
Vdc
0 + vc
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+ Vdc
Q1
D1 + Va
D3
Q3
Q4
D4
D2
Q2
Positive current
va = Vdc when Q1 and Q2 are ON
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+ Vdc
Q1
D1 + Va
D3
Q3
Q4
D4
D2
Q2
Positive current
va = Vdc va = -Vdc va = 0 when Q1 and Q2 are ON when D3 and D4 are ON when current freewheels through Q and D
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+ Vdc
Q1
D1 + Va
D3
Q3
Q4
D4
D2
Q2
Positive current
va = Vdc va = -Vdc va = 0 when Q1 and Q2 are ON when D3 and D4 are ON when current freewheels through Q and D
Negative current
va = Vdc when D1 and D2 are ON
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+ Vdc
Q1
D1 + Va
D3
Q3
Q4
D4
D2
Q2
Positive current
va = Vdc va = -Vdc va = 0 when Q1 and Q2 are ON when D3 and D4 are ON when current freewheels through Q and D
Negative current
va = Vdc va = -Vdc va = 0
B Chitti Babu, EE NIT Rourkela
when D1 and D2 are ON when Q3 and Q4 are ON when current freewheels through Q and D
50
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2vtri
Vdc
+ vA + vB -
vA
vB vc + _ vAB
-Vdc
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Vdc
+ vA + vB -
Vdc vA 0
-vc
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200 150
200 150
Vdc
100 50 0 -50
Vdc
100 50 0 -50 -100 -150 -200 0.04 0.0405 0.041 0.0415 0.042 0.0425 0.043 0.0435 0.044 0.0445 0.045
Armature current
Vdc
-100 -150 -200 0.04 0.0405 0.041 0.0415 0.042 0.0425 0.043 0.0435 0.044 0.0445 0.045
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control
* +
* +
T*
speed controller
position controller
current controller
converter
Motor
kT
1/s
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Vdc
ia +
iref
Va va
iref
+ _
ierr
q q
High bandwidth, simple implementation, insensitive to parameter variations Variable switching frequency depending on B Chitti operating conditions 14 August 2009
ierr
56 Babu, EE NIT Rourkela
i*b
Converter
i*c
For isolated neutral load, ia + ib + ic = 0 control is not totally independent Instantaneous error for isolated neutral load can reach double the band
B Chitti Babu, EE NIT Rourkela
3-phase AC Motor
57
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iq is
h h
h h
id
For isolated neutral load, ia + ib + ic = 0 control is not totally independent Instantaneous error for isolated neutral load can reach double the band
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Vdc = 600V h = 0.3 A Sinusoidal reference current, 30Hz load 10, 50mH
Scope
iaref TW o orkspace1
g + A i + -
D Voltage Source C
c1 c2 c3 ina p1 p2 p3 p4 p5 p6 -
B C
Sine W e av
inb inc
Subsystem
Sine W e 1 av
Sine W e 2 av
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Current error
0.5 0.4 0.3
0.2
10
0
0.1 0 -0.1
9 8
-5
-0.2 -0.3
7
-10 0.005 0.01 0.015 6 0.02 0.025 0.03
-0.4 -0.5 -0.5 -0.4 -0.3 -0.2 -0.1 0 0.1 0.2 0.3 0.4 0.5
4 4 6 8 10 12 14 16 x 10
-3
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Current error
0.5 0 -0.5 0.04 0.042 0.044 0.046 0.048 0.05 0.052 0.054 0.056 0.058 0.06
0.6A
-5
0.5
-10 -10 -5 0 5 10
0 -0.5 0.04 0.042 0.044 0.046 0.048 0.05 0.052 0.054 0.056 0.058 0.06
0.6A
0.5 0 -0.5 0.04 0.042 0.044 0.046 0.048 0.05 0.052 0.054 0.056 0.058 0.06
0.6A
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Vdc
iref +
PI
vc vc
modulator
q q q
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i*b
Converter PI +
PWM
i*c
PI
PWM
Sinusoidal PWM
Interactions between phases only require 2 controllers Tracking error
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Motor
63
i*b
Converter PI +
PWM
i*c
PI
PWM
Motor
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3-2
Motor
B Chitti Babu, EE NIT Rourkela
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+
id
vb*
iq* +
iq
vc*
IM
abcdq
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4 2 0 -2 -4
4 3 2 1 0
0.01
0.01
0.02
4 2 0 -2 -4
Rotating - ia
4 3 2 1
Rotating - id
0.01
0.01
0.02
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vc(s)
va(s)
DC motor
B Chitti Babu,
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Input voltage
vc
vs
Output voltage
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cos(t) Vscos() = vc
Vm
0
v = cos 1 c v s
vc
vs
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G H (s) = Ke
K=
2Vm Vs
T=10ms
Simplified if control bandwidth is reduced to much lower than the sampling frequency
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iref
current controller
vc
firing circuit
controlled rectifier
Va
To control the current current-controlled converter Torque can be controlled Only operates in Q1 and Q4 (single converter topology)
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+ - v
Scope3
Continuous powergui
Scope2 Step
Voltage Measurement4
+ i -
AC Voltage Source
Current Measurement 1
AC Voltage Source1
g A
+ +
s v To Workspace
AC Voltage Source2
+ - v
B C
ia To Workspace1
Voltage Measurement2
+ - v
Universal Bridge
Current Measurement
+ - v
Voltage Measurement
+ - v
Voltage Measurement3
ux
Scope
Voltage Measurement1
Mu Scope1 ir To Workspace2
acos
-K-
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1000
1000
500
500
Voltage
0.23 0.24 0.25 0.26 0.27 0.28
-500
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
-500 0.22
15
15
10
10
Current
0.23 0.24 0.25 0.26 0.27 0.28
0 0.22
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
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Vdc + Va
vtri vc q
vc(s)
Va(s)
DC motor
79
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vc
1 q= 0
1 d= Ttri
1
t + Ttri
q dt
=
0 ton
t on Ttri
Vdc
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0.5
vc
-Vtri Vtri
-Vtri
vc For vc = -Vtri d = 0
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0.5
-Vtri Vtri
-Vtri
vc
vc
Vtri
d = 0.5
82
0.5
-Vtri Vtri
-Vtri
vc vc
Vtri
1 d = 0.5 + vc 2Vtri
For vc = -Vtri d = 0 For vc = 0 d = 0.5
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V dc V a = 0 . 5 V dc + vc 2 V tri
Introducing perturbation in vc and Va and separating DC and AC components:
DC:
V dc V a = 0 . 5 V dc + vc 2 V tri ~ = V dc ~ va vc 2 V tri
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AC:
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v a (s) V dc = v c ( s ) 2 V tri
vc(s)
V dc 2 V tri
va(s)
DC motor
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2vtri
vc
q vtri
+
Vdc
+ VAB
vA
Vdc 0 Vdc
vc
vB
q
0 Vdc
vAB -Vdc
VA VB = VAB =
Vdc vc Vtri
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v a ( s ) V dc = v c (s) V tri
vc(s)
V dc V tri
va(s)
DC motor
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vc -vc
vtri vc qa
Vdc
vA
Leg a
vtri -vc qb
vB
d A = 0.5 +
dB = 0.5 + VB = 0.5Vdc
vAB
VA = 0.5Vdc +
VA VB = VAB =
Vdc vc Vtri
v a ( s ) V dc = v c (s) V tri
vc(s)
V dc V tri
va(s)
DC motor
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v t = ia R a + L a
dia + ea dt
dm Te = Tl + J dt
ee = kt
Te = kt ia
Extract the dc and ac components by introducing small perturbations in Vt, ia, ea, Te, TL and m ac components
~ ~ = ~ R + L d ia + ~ ea v t ia a a dt
dc components
Vt = Ia R a + E a
Te = k E Ia
Ee = k E
~ ~ Te = k E ( ia )
~ = k ( ) ~ ee E
14
~ ~ ~ ~ + J d( ) Te = TL + B dt August 2009
Te = TL + B()
B Chitti Babu, EE NIT Rourkela 90
~ ~ Te = k E ( ia )
~ = k ( ) ~ ee E
~ ~ ~ ~ + J d( ) Te = TL + B dt
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Va (s )
+ -
Ra
1 + sL a
I a (s )
kT
Te (s )
+
1 B + sJ
(s )
kE
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q + Vdc
Tc
q DC motor
Converter
Tl (s )
kt
T e (s )
+ -
Torque controller
V dc V tri ,peak
Va (s )
+ -
Ra
I a (s ) 1 + sL a
kT
Te (s )
1 B + sJ
(s )
kE
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Inner loop (current or torque loop) the fastest largest bandwidth The outer most loop (position loop) the slowest smallest bandwidth Design starts from torque loop proceed towards outer loops
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Fast response large bandwidth Minimum overshoot good phase margin (>65o) Zero steady state error very large DC gain
BODE PLOTS
METHOD
Obtain linear small signal model Design controllers based on linear small signal model Perform large signal simulation for controllers verification
B Chitti Babu, EE NIT Rourkela 95
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Scalar Control
Vector Control
Const. V/Hz
is=f(r)
FOC
DTC
DTC SVM
96
Control of induction machine based on steady-state model (per phase SS equivalent circuit):
Rs + Vs
Is
Lls
Llr
Ir
Lm Im
+ Eag
Rr/s
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Te
Trated
TL
sm
ratedrotors
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Given a load T characteristic, the steady-state speed can be changed by altering the T of the motor:
Pole changing Synchronous speed change with no. of poles Discrete step change in speed
Variable voltage (amplitude), variable frequency (Constant V/Hz) Using power electronics converter Operated at low slip frequency
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Variable voltage (amplitude), frequency fixed E.g. using transformer or triac B high as Slip becomes Chitti Babu, EE NIT voltage reduced Rourkela low
99
e.g. 3phase squirrel cage IM V = 460 V Rs= 0.25 Rr=0.2 Lr = Ls = 0.5/(2*pi*50) Lm=30/(2*pi*50) f = 50Hz p=4
500
400 Torque
300
200
100
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To maintain V/Hz constant Approximates constant air-gap flux when Eag is large
+ V
_
+ Eag
_
Eag = k f ag
ag = constant
E ag f
V f
50Hz 30Hz
20
40
120
140
160
102
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frated
103
3-phase supply
Rectifier
VSI
IM
f
Ramp
s*
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In1Out1
Subsystem
isd Va Out1 isq ird speed Vb Vd irq Out3 Vq Vc Te
In1
Out2
Scope
Constant V /Hz
speed To Workspace1
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Speed
0 -100 0 400 200 0 -200 0 200 100 0 -100 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Torque
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
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0.9
106
At low speed, voltage drop across stator impedance is significant compared to airgap voltage - poor torque capability at low speed
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700
600
50Hz
500
Torque
400
100
20
40
60
80
100
120
140
160
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600
500
Torque deteriorate at low frequency hence compensation commonly performed at low frequency In order to truly compensate need to measure stator current seldom performed
Torque
400
300
200
100
20
40
60
80
100
120
140
160
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Linear offset
Boost
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Solution:
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3-phase supply
Rectifier
VSI
IM
f
Ramp
s*
+ +
+ +
Vboost
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Vdc
Idc
112
Rs + Vs
Is
+ Lm
maintain at rated
Eag
Rr/s
Im
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50Hz 30Hz
20
40
60
80
100
120
140
160
114
R j (L lr + L m ) + r s
j L r + Rr s
jslip r Tr + 1 1+ r Is = Im , jslip Tr + 1
Current is controlled using currentcontrolled VSI Dependent on rotor parameters sensitive to parameter variation
Im =
R j r L r + r 1+ s r jslip Tr + 1 jslip r Tr + 1 1+ r
Is
Im =
Is ,
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Rectifier
VSI
IM
Current controller
+ -
PI r
slip
+
|Is|
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THANK YOU
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SPWM Technique
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