Modeling & Simulation of Power Electronics and Electrical Drives

Power Electronics and Drives Modeling & Simulation
A Problem Based and Project Oriented Learning
B.Chitti Babu
Member IEEE (USA), Student Member IET (UK)
Department of Electrical Engineering, National Institute of Technology,Rourkela bcbabunitrkl@ieee.org

14 August 2009 B Chitti Babu, EE NIT Rourkela 1
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
Power Electronics-An Enabling Technology

Energy System
REFRIGERATOR
SOLAR CELLS DC AC SOLAR ENERGY
TELEVISION
LIGHT TRANSFORMER 3 POWER STATION 3 3 1-3
MOTOR PUMP ROBOTICS
TRANSFORMER FACTS COMPEN SATOR
INDUSTRY TRANSFORMER 3 WIND TURBINE FUEL CELLS DC AC POWER SUPPLY

a
FUEL
COMMUNICATION
TRANSPORT COMBUSTION ENGINE
14 August 2009
B Chitti Babu, Courtesy: EE NIT Rourkela
3 Aalborg University,Denmark
Implementation of problem-oriented and project-organised education

Group studies
Literature
Lectures
Problem analysis
Problem solving
Report
Tutorials
Field work/ Simulation

B Chitti Babu, EE NIT Rourkela
Experiments/ Prototyping
4
14 August 2009
Prerequisite for Power Electronics

Study of Second Order System, Control Concepts and Mathematics Role of Passive Elements Physics concepts of Devices Device Selection Modeling and Simulation Build and Evaluate Design & Development Research and Innovate
Modeling & Simulation?

Modeling here refers to the process of analysis and syntheses to arrive at a suitable mathematical description that encompasses the relevant dynamic characteristics of the component, preferably in terms of parameters that can be easily determined in practice Model supposely imitates or reproduces certain essential characteristics or conditions of the actual-This is called SIMULATION. Modeling & Simulation-Simulation is a technique that involves setting up a model of a real situation and performing experiments on the model. Simulation to be an experiment with logical and mathematical models, especially mathematical representations of the dynamic kind that are characterized by a mix of differential and algebraic equations.
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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
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
Power Electronic Systems What is Power Electronics ?

A field of Electrical Engineering that deals with the application of power semiconductor devices for the control and conversion of electric power sensors Load Output
- AC - DC
Input Source
- AC - DC - unregulated
Power Electronics Converters
Reference
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Controlle r
POWER ELECTRONIC CONVERTERS the heart of power a power electronics system

10
Power Electronic Systems Why Power Electronics ?

Power semiconductor devices Power switches
isw ON or OFF + vsw =0 isw = 0
Ploss = vsw isw = 0

+ Losses ideally ZERO !
14 August 2009 B Chitti Babu, EE NIT Rourkela
vsw
11

Vak + ia
A
Vak +
A G
Vak + ia
ia
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12

iD
+
G
ic + VCE
VDS
S
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Passive elements + i Inductor V + i
C L
VL
High frequency transformer
+ V2
VC
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14
Passive Elements In Power Electronics

Resistors Capacitors Inductors Transformers Filters Integrated Magnetics
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15
Resistors in Power Electronics

Resistors are mostly used in Power Electronics to dissipate the trapped energy from other components as well to provide damping. Thus, resistors can carry significant amount of high frequency currents. Resistors can carry fundamental ac component currents in ac circuits and also carry dc component currents under steady state. No resistor is ideal, so their behavior depends upon the applied frequency The peak temperature rise depends on the energy dissipated in the resistors.
Capacitors in Power Electronics

Capacitors are mostly used in Power Electronics to by-pass high frequency components of voltages and currents. Thus, capacitors can carry significant amount of high frequency currents Capacitors can carry fundamental ac component. currents in ac circuits but cannot carry dc component currents under steady state. No capacitor is ideal, so their behavior depends upon the applied frequency The breakdown voltage depends on the peak voltage charge
Inductors in Power Electronics

Inductors are mostly used in Power Electronics to block the flow of high frequency components of currents. Thus, inductors can drop significant amount of high frequency voltages. Inductors can have fundamental ac component voltage drop in ac circuits but cannot drop dc component voltages under steady state. No inductor is ideal, so their behavior depends upon the applied frequency The peak flux density depends on the peak instantaneous current.
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Courtesy: Dr.Sujit K. Biswas, Lecture Notes, Jadavpur University B Chitti Babu,

EE NIT Rourkela 18

sensors
Input Source
- AC - DC - unregulated
Power Electronics Converters
Load IDEALLY LOSSLESS ! Output

- AC - DC
Reference
Controlle r
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19
Power Electronic Systems Why Power Electronics ? Other factors: Improvements in power semiconductors fabrication
Power Integrated Module (PIM), Intelligent Power Modules (IPM)
Decline cost in power semiconductor
Advancement in semiconductor fabrication

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ASICs
FPGA
DSPs
Faster and cheaper to implement complex algorithm

B Chitti Babu, EE NIT Rourkela 20
Power Electronic Systems Some Applications of Power Electronics :

Typically used in systems requiring efficient control and conversion of electric energy: Domestic and Commercial Applications Industrial Applications Telecommunications Transportation Generation, Transmission and Distribution of electrical energy Power rating of < 1 W (portable equipment) Tens or hundreds Watts (Power supplies for computers /office equipment) kW to MW : drives Hundreds of MW in DC transmission system (HVDC)
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Modern Electrical Drive Systems

About 50% of electrical energy used for drives Can be either used for fixed speed or variable speed
75% - constant speed, 25% variable speed (expanding)
Variable speed drives typically used PEC to supply the motors

DC motors (brushed) SRM BLDC
AC motors - IM - PMSM
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22

Classic Electrical Drive for Variable Speed Application :

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Bulky Inefficient inflexible


Typical Modern Electric Drive Systems Power Electronic Converters
Electric Energy - Unregulated Electric Energy - Regulated Electric Energy
Electric Motor
Mechanical Energy
POWER IN
Power Electronic Converters

feedback
Moto r
Loa d
Reference
Controller
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24

Example on VSD application
Constant speed
valve Supply motor pump
Variable Speed Drives
Power out Power In
Power loss
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Constant speed
valve Supply motor pump Supply PEC
motor
pump
Power out Power In Power In
Power out
Power loss
14 August 2009 Mainly in valve B Chitti Babu, EE NIT Rourkela
Power loss
26

Constant speed
valve Supply motor pump Supply PEC
motor
pump
Power out Power In Power In
Power out
Power loss
14 August 2009 Mainly in valve B Chitti Babu, EE NIT Rourkela
Power loss
27

Example on VSD application Electric motor consumes more than half of electrical energy in the US
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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Overview of AC and DC drives Before semiconductor devices were introduced (<1950) AC motors for fixed speed applications DC motors for variable speed applications After semiconductor devices were introduced (1960s) Variable frequency sources available AC motors in variable speed applications Coupling between flux and torque control Application limited to medium performance applications fans, blowers, compressors scalar control High performance applications dominated by DC motors tractions, elevators, servos, etc
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Overview of AC and DC drives After vector control drives were introduced (1980s) AC motors used in high performance applications elevators, tractions, servos AC motors favorable than DC motors however control is complex hence expensive Cost of microprocessor/semiconductors decreasing predicted 30 years ago AC motors would take over DC motors
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Overview of AC and DC drives
Courtesy: Electrical Drives by Ion Boldea ,CRC Press

Power Electronic Converters in ED Systems

Converters for Motor Drives (some possible configurations)
DC Drives
AC Drives
AC Source
DC Source
AC Source
DC Source
DC-ACDC AC-DC AC-DCDC
DC-DC AC-DCAC AC-AC DC-AC DC-DCAC
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Const. Variable NCC DC DCChitti Babu, B

EE NIT Rourkela
FCC
32

DC DRIVES Available AC source to control DC motor (brushed)
AC-DC AC-DCDC
Uncontrolled Rectifier Control Controlled Rectifier

Single-phase Three-phase Single-phase Three-phase
Control DC-DC Switched mode

1-quadrant, 2-quadrant 4-quadrant
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DC DRIVES
AC-DC
400 200 0
+
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
Average voltage over 10ms
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
Average voltage over 3.33 ms

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

DC DRIVES
AC-DC
2 Vm
+
50Hz 1-phase
Vo =
2 Vm cos
90o 180o
Vo
Average voltage over 10ms

2 Vm
3VL L , m
50Hz 3-phase
+ Vo
Vo = 3VL L , m cos
90o 180o
Average voltage over 3.33 ms

3VL L , m
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DC DRIVES
AC-DC
ia + 3-phase supply Vt Q2 Q3
Vt
Q1 Q4
Ia
- Operation in quadrant 1 and 4 only

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DC DRIVES
AC-DC
3phase supply
+ Vt
3-phase supply
Q2 Q3 Q1 Q4
T
37
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DC DRIVES
AC-DC
F1 3-phase supply + R2 Va -
R1
F2
Q2 Q3 Q1 Q4
T
38
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DC DRIVES
AC-DC Cascade control structure with armature reversal (4-quadrant):
iD
ref + _ Speed control ler iD,ref + _ Current Control ler
Firing Circuit
iD,ref 14 August 2009 iD,
Armature reversal Babu, B Chitti EE NIT Rourkela
39

DC DRIVES
AC-DC-DC
Uncontrolled rectifier
control
Switch Mode DC-DC 1-Quadrant 2-Quadrant 4-Quadrant
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DC DRIVES
AC-DC-DC
control
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DC DRIVES
AC-DC-DC DC-DC: Two-quadrant Converter
Va
+ Vdc + T2 D2 Va T1 D1 ia Q2 Q1
Ia
T1 conducts va = Vdc
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DC DRIVES
Va
Ia
D2 conducts va = 0
T1 conducts va = Vdc
Va
Eb
Quadrant 1 The average voltage is made larger than the back emf

DC DRIVES
Va
Ia
D1 conducts va = Vdc
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DC DRIVES
Va
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

DC DRIVES
2vtri
vc
+ vA -
Vdc
0 + vc
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DC DRIVES
AC-DC-DC DC-DC: Four-quadrant Converter
leg A leg B
+ Vdc
Q1
D1 + Va
D3
Q3
Q4
D4
D2
Q2
Positive current
va = Vdc when Q1 and Q2 are ON
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DC DRIVES
leg A leg B
+ 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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DC DRIVES
leg A leg B
+ Vdc
Q1
D1 + Va
D3
Q3
Q4
D4
D2
Q2
Positive current
Negative current
va = Vdc when D1 and D2 are ON
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DC DRIVES
leg A leg B
+ Vdc
Q1
D1 + Va
D3
Q3
Q4
D4
D2
Q2
Positive current
Negative current
va = Vdc va = -Vdc va = 0
when D1 and D2 are ON when Q3 and Q4 are ON when current freewheels through Q and D
50
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DC DRIVES
AC-DC-DC Bipolar switching scheme output swings between VDC and -VDC
vc
2vtri
Vdc
+ vA + vB -
vA
Vdc 0 Vdc 0 Vdc
vB vc + _ vAB
-Vdc
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51

DC DRIVES
AC-DC-DC Unipolar switching scheme output swings between Vdc and -Vdc
vc Vtri -vc
Vdc
+ vA + vB -
Vdc vA 0
Vdc vc + _ vAB vB 0 Vdc 0
-vc

DC DRIVES
Armature current
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
Bipolar switching scheme
Unipolar switching scheme
Current ripple in unipolar is smaller Output frequency in unipolar is effectively doubled
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53

AC DRIVES
AC-DC-AC
control
The common PWM technique:

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CB-SPWM with ZSS

54
B Chitti Babu, SVPWM EE NIT Rourkela
Modeling and Control of Electrical Drives

Control the torque, speed or position Cascade control structure
Example of current control in cascade control structure
* +
* +
T*
speed controller
position controller
current controller
converter
Motor
kT
1/s
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Current controlled converters in DC Drives - Hysteresis-based
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

Current controlled converters in AC Drives - Hysteresis-based i*a +
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
3-phase AC Motor
57
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Current controlled converters in AC Drives - Hysteresis-based
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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Con u s tin ou powergu i
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
urrent M easurem 3 ent Series R BranchC LC 3

i + -
U ersal Bridge 1 niv
C1 easurem 1 ent Series R Branch urrent M LC

i + -
Sine W e av
inb inc
Series R Branch urrent M LC C2 easurem 2 ent
Subsystem
Sine W e 1 av
Sine W e 2 av
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Actual and reference currents
10
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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Actual current locus

10
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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Current controlled converters in DC Drives - PI-based
Vdc
iref +
PI
vc vc
vPulse width tri
modulator
q q q
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Current controlled converters in DC Drives - PI-based i*a + PI +
PWM
i*b
Converter PI +
PWM
i*c
PI
PWM
Sinusoidal PWM
Interactions between phases only require 2 controllers Tracking error
Motor
63

Current controlled converters in DC Drives - PI-based
Perform the 3-phase to 2-phase transformation
- only two controllers (instead of 3) are used

Perform the control in synchronous frame
- the current will appear as DC
Interactions between phases only require 2 controllers Tracking error


Current controlled converters in AC Drives - PI-based i*a + PI +
PWM
i*b
Converter PI +
PWM
i*c
PI
PWM
Motor
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Current controlled converters in AC Drives - PI-based i*a PI i*b 3-2 PI i*c SVM 2-3 Converter
3-2
Motor
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Current controlled converters in AC Drives - PI-based
id*
va*
+
id
PI controller dqabc PI controller

s
vb*
iq* +
iq
vc*
SVM or SPWM VSI
IM
Synch speed estimator
abcdq
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Current controlled converters in AC Drives - PI-based
Stationary - ia Stationary - id
4 2 0 -2 -4
4 3 2 1 0
0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009
0.01
0.002 0.004 0.006 0.008
0.01
0.012 0.014 0.016 0.018
0.02
4 2 0 -2 -4
Rotating - ia
4 3 2 1
Rotating - id
0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009
0.01
0.002 0.004 0.006 0.008
0.01
0.012 0.014 0.016 0.018
0.02
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Modeling of the Power Converters: DC drives with Controlled rectifier
+ vc firing circuit controlled rectifier Va
vc(s)
va(s)
DC motor
The relation between vc and va is determined by the firing circuit

14 August 2009
It is desirable to have a linear NIT Rourkela EE relation between vc and va
B Chitti Babu,
69

Cosine-wave crossing control Vm
0
Input voltage
vc
vs
Cosine wave compared with vc
Results of comparison trigger SCRs
Output voltage

Cosine-wave crossing control
cos(t) Vscos() = vc
Vm
0
v = cos 1 c v s
vc
vs
2Vm v c 1 v c ( cos ) Va = cos v vs s
A linear relation between vc and Va


Modeling of the Power Converters: DC drives with Controlled rectifier Va is the average voltage over one period of the waveform - sampled data system Delays depending on when the control signal changes normally taken as half of sampling period
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Modeling of the Power Converters: DC drives with Controlled rectifier Va is the average voltage over one period of the waveform - sampled data system Delays depending on when the control signal changes normally taken as half of sampling period
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T s 2
G H (s) = Ke
Single phase, 50Hz

vc(s) Va(s)
K=
2Vm Vs
T=10ms
Three phase, 50Hz

K= 3VL L ,m Vs
T=3.33ms
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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Input 3-phase, 240V, 50Hz Closed loop current control with PI controller
+ - 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
Controlled Voltage Source Series RLC Branch

i - +
B C
ia To Workspace1
+ - v
Universal Bridge
Current Measurement
+ - v
Voltage Measurement
+ - v
alpha _deg AB BC CA Block pulses
ux
Scope
Synchronized 6-Pulse Generator
Mu Scope1 ir To Workspace2
PID Signal Generator 7 Constant 1 PID Controller Saturation 1
acos
-K-
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1000
1000
Input 3-phase, 240V, 50Hz
Closed loop current control with PI controller
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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Modeling of the Power Converters: DC drives with SM Converters
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Switching signals obtained by comparing control signal with triangular wave
Vdc + Va
vtri vc q
We want to establish a relation between vc and Va AVERAGE voltage
vc(s)
Va(s)
DC motor
79
14 August 2009

Ttri
vc
1 q= 0
1 d= Ttri
1
Vc > Vtri Vc < Vtri
t + Ttri
q dt
=
0 ton
t on Ttri
Vdc
14 August 2009
B Chitti Babu, 0 EE NIT Rourkela
1 dTtri Va = Vdcdt = dVdc Ttri 0

80

Modeling of the Power Converters: DC drives with SM Converters d
0.5
vc
-Vtri Vtri
-Vtri
vc For vc = -Vtri d = 0
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0.5
-Vtri Vtri
-Vtri
vc
vc
Vtri
For vc = -Vtri d = 0 For vc = 0

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d = 0.5
82
B Babu, For vc = VtriChitti d = 1 Rourkela EE NIT

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
83
14 August 2009
B Babu, For vc = VtriChitti d = 1 Rourkela EE NIT

Modeling of the Power Converters: DC drives with SM Converters Thus relation between vc and Va is obtained as:
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
AC:
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Modeling of the Power Converters: DC drives with SM Converters Taking Laplace Transform on the AC, the transfer function is obtained as:
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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85

Vdc -Vdc
2vtri
vc
q vtri
+
Vdc
+ VAB
vA
Vdc 0 Vdc
vc
vB
q
0 Vdc
v d A = 0.5 + c 2Vtri VA = 0.5Vdc + Vdc vc 2Vtri
v dB = 1 d A = 0.5 c 2Vtri VB = 0.5Vdc Vdc vc 2Vtri
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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Vdc

Leg b Vtri
+
vc -vc
vtri vc qa
Vdc
vA
Leg a
vtri -vc qb
vB
d A = 0.5 +
vc 2Vtri Vdc vc 2Vtri
dB = 0.5 + VB = 0.5Vdc
vc 2Vtri Vdc vc 2Vtri
vAB
VA = 0.5Vdc +
VA VB = VAB =
Vdc vc Vtri
The same average value weve seen for bipolar !


v a ( s ) V dc = v c (s) V tri
vc(s)
V dc V tri
va(s)
DC motor
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Modeling of the Power Converters: DC drives with SM Converters DC motor separately excited or permanent magnet
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()

Modeling of the Power Converters: DC drives with SM Converters DC motor separately excited or permanent magnet Perform Laplace Transformation on ac components
~ d ia ~ ~ ~ = i R +L vt + ea a a a dt
Vt(s) = Ia(s)Ra + LasIa + Ea(s) Te(s) = kEIa(s) Ea(s) = kE(s)
~ ~ Te = k E ( ia )
~ = k ( ) ~ ee E
~ ~ ~ ~ + J d( ) Te = TL + B dt
Te(s) = TL(s) + B(s) + sJ(s)
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Modeling of the Power Converters: DC drives with SM Converters DC motor separately excited or permanent magnet
Tl (s )
Va (s )
+ -
Ra
1 + sL a
I a (s )
kT
Te (s )
+
1 B + sJ
(s )
kE
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vtri
Torque controller
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
14 August 2009
93

Modeling of the Power Converters: DC drives with SM Converters Closed-loop speed control an example Design procedure in cascade control structure
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
14 August 2009
94

Modeling of the Power Converters: DC drives with SM Converters Closed-loop speed control an example OBJECTIVES:
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
14 August 2009

Modeling of the Power Converters: IM drives
INDUCTION MOTOR DRIVES
Scalar Control
Vector Control
Const. V/Hz
is=f(r)
FOC
DTC
Rotor Flux Stator Flux Circular Hexagon Flux Flux

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
14 August 2009
97

Modeling of the Power Converters: IM drives Te
Pull out Torque (Tmax)
Te
Intersection point (Te=TL) determines the steady state speed
Trated
TL
sm
ratedrotors
14 August 2009
98

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
14 August 2009
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

Modeling of the Power Converters: IM drives Variable voltage, fixed frequency
600
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
Lower speed slip higher Low efficiency at low speed

0 20 40 60 80 w (rad/s) 100 120 140 160
14 August 2009
100

Modeling of the Power Converters: IM drives Constant V/Hz
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
Speed is adjusted by varying f - maintaining V/f constant to avoid flux saturation


900 800 700 600 Torque 500 10Hz 400 300 200 100 0
14 August 2009
50Hz 30Hz
20
40
B60 Chitti80 Babu, 100 EE NIT Rourkela
120
140
160
102

Modeling of the Power Converters: IM drives Constant V/Hz Vs Vrated
14 August 2009
frated
103

3-phase supply
Rectifier
VSI
IM
f
Ramp
s*
Pulse Width Modulator
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104

In1Out1
Subsystem
isd Va Out1 isq ird speed Vb Vd irq Out3 Vq Vc Te
0.41147 Step Slider Rate Limiter Gain1
In1
Out2
Scope
Constant V /Hz
Induction Machine torque To Workspace
speed To Workspace1
Simulink blocks for Constant V/Hz Control
14 August 2009
105

200 100
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
Stator phase current

0.1 0.2 0.3 0.4
14 August 20090
B Chitti Babu, 0.5 0.6 0.7 0.8 EE NIT Rourkela
0.9
106

Problems with open-loop constant V/f
At low speed, voltage drop across stator impedance is significant compared to airgap voltage - poor torque capability at low speed
Solution: 1. Boost voltage at low speed 2. Maintain Im constant constant ag
14 August 2009
107

700
600
50Hz
500
A low speed, flux falls below the rated value

30Hz
Torque
400
300 10Hz 200
100
20
40
60
80
100
120
140
160
14 August 2009
108

With compensation (Is,ratedRs)
700
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
14 August 2009
109

With voltage boost at low frequency

Vrated
Linear offset
Boost
Non-linear offset varies with Is frated
14 August 2009
110

Modeling of the Power Converters: IM drives Problems with open-loop constant V/f Poor speed regulation
Solution:
1. Compensate slip 2. Closed-loop control
14 August 2009
111

3-phase supply
Rectifier
VSI
IM
f
Ramp
s*
+ +
+ +
Pulse Width Modulator
Slip speed calculator
Vboost
14 August 2009
Vdc
Idc
112

Modeling of the Power Converters: IM drives A better solution : maintain ag constant. How? ag, constant Eag/f , constant Im, constant (rated)
Rs + Vs
Is
Controlled to maintain Im at rated Lls Llr Ir
+ Lm
maintain at rated
Eag
Rr/s
Im
14 August 2009
113

Modeling of the Power Converters: IM drives Constant air-gap flux
900 800 700 600 Torque 500 10Hz 400 300 200 100 0
14 August 2009
50Hz 30Hz
20
40
60
80
100
120
140
160
114

Im = j L lr + Rr s Is
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 ,
14 August 2009
115

3-phase supply
Rectifier
VSI
IM
Current controller
+ -
PI r
slip
+
|Is|
14 August 2009
116
THANK YOU
14 August 2009
117
Simulation of SPWM 1Voltage Source Inverter

Objectives: Control of Inverter Output Voltage Reduction of Lower order Harmonics Limitations: Increase of Switching Loss due to switching Frequency. Reduction of Available Voltage EMI problems due to higher order harmonics
1-Voltage Source Inverter
14 August 2009
119
SPWM Technique
14 August 2009
120

Modeling & Simulation of Power Electronics and Electrical Drives

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Modeling & Simulation of Power Electronics and Electrical Drives

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Power Electronics and Drives Modeling & Simulation

A Problem Based and Project Oriented Learning

Department of Electrical Engineering, National Institute of Technology,Rourkela bcbabunitrkl@ieee.org

Power Electronics-An Enabling Technology

SOLAR CELLS DC AC SOLAR ENERGY

LIGHT TRANSFORMER 3 POWER STATION 3 3 1-3

MOTOR PUMP ROBOTICS

TRANSFORMER FACTS COMPEN SATOR

INDUSTRY TRANSFORMER 3 WIND TURBINE FUEL CELLS DC AC POWER SUPPLY

TRANSPORT COMBUSTION ENGINE

B Chitti Babu, Courtesy: EE NIT Rourkela

Implementation of problem-oriented and project-organised education

Field work/ Simulation

Prerequisite for Power Electronics

Modeling & Simulation?

B Chitti Babu, EE NIT Rourkela

B Chitti Babu, EE NIT Rourkela

Power Electronic Systems What is Power Electronics ?

Power Electronics Converters

POWER ELECTRONIC CONVERTERS the heart of power a power electronics system

Power Electronic Systems Why Power Electronics ?

isw ON or OFF + vsw =0 isw = 0

Ploss = vsw isw = 0

Power Electronic Systems Why Power Electronics ?

B Chitti Babu, EE NIT Rourkela

Power Electronic Systems Why Power Electronics ?

B Chitti Babu, EE NIT Rourkela

Power Electronic Systems Why Power Electronics ?

High frequency transformer

B Chitti Babu, EE NIT Rourkela

Passive Elements In Power Electronics

B Chitti Babu, EE NIT Rourkela

Resistors in Power Electronics

Capacitors in Power Electronics

Inductors in Power Electronics

Courtesy: Dr.Sujit K. Biswas, Lecture Notes, Jadavpur University B Chitti Babu,

Power Electronic Systems Why Power Electronics ?

Power Electronics Converters

Load IDEALLY LOSSLESS ! Output

B Chitti Babu, EE NIT Rourkela

Decline cost in power semiconductor

Advancement in semiconductor fabrication

Faster and cheaper to implement complex algorithm

Power Electronic Systems Some Applications of Power Electronics :

Modern Electrical Drive Systems

Variable speed drives typically used PEC to supply the motors

B Chitti Babu, EE NIT Rourkela

Modern Electrical Drive Systems

Bulky Inefficient inflexible

Modern Electrical Drive Systems

Power Electronic Converters

B Chitti Babu, EE NIT Rourkela

Modern Electrical Drive Systems

Variable Speed Drives

Power out Power In

Modern Electrical Drive Systems

Variable Speed Drives

Power out Power In Power In

Modern Electrical Drive Systems

Variable Speed Drives

Power out Power In Power In

Modern Electrical Drive Systems