Electric Motor Drives Modeling, Analysis, and Control

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ISBN: 9780130910141 | 0130910147
Cover: Paperback
Copyright: 2/15/2001

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Electronic Control of Machinesdevelops a systematic approach to motor drives. This book places emphasis on practice through the use of extensive modeling, simulation and analysis to help readers better understand the subject. Detailed industrial applications help readers relate theory to practice.This extensive book cover numerous topics including: system level analysis, design and integration of the motor drives; and modeling and analysis of electrical machines and drive systems.For readers with an interest in electric drives and power electronics.

Symbols

xxi

Introduction

(17)

Introduction

(1)

Power Devices and Switching

(5)

Power Devices

(4)

Switching of Power Devices

(1)

Motor Drive

(9)

Electric Machines

(4)

Power Converters

(1)

Controllers

(1)

Load

(2)

Scope of the Book

(1)

References

(1)

Modeling of DC Machines

(18)

Theory of Operation

(1)

Induced Emf

(2)

Equivalent Circuit and Electromagnetic Torque

(1)

Electromechanical Modeling

(1)

State-Space Modeling

(1)

Block Diagram and Transfer Functions

(1)

Field Excitation

(7)

Separately-Excited DC Machine

(3)

Shunt-Excited DC Machine

(1)

Series-Excited DC Machine

(3)

DC Compound Machine

(1)

Permanent-Magnet DC Machine

(1)

Measurement of Motor Constants

(2)

Armature Resistance

(1)

Armature Inductance

(1)

Emf Constant

(1)

Flow Chart for Computation

(2)

Suggested Readings

170

(1)

Discussion Questions

171

(1)

Exercise Problems

172

(2)

Polyphase Induction Machines

174

(88)

Introduction

174

(1)

Construction and Principle of Operation

175

(6)

Machine Construction

175

(5)

Principle of Operation

180

(1)

Induction Motor Equivalent Circuit

181

(3)

Steady-State Performance Equations of the Induction Motor

184

(4)

Steady-State Performance

188

(5)

Measurement of Motor Parameters

193

(3)

Stator Resistance

193

(1)

No-Load Test

193

(1)

Locked-Rotor Test

194

(2)

Dynamic Modeling of Induction Machines

196

(27)

Real-Time Model of a Two-Phase Induction Machine

197

(3)

Transformation to Obtain Constant Matrices

200

(3)

Three-Phase to Two-Phase Transformation

203

(6)

Power Equivalence

209

(1)

Generalized Model in Arbitrary Reference Frames

209

(3)

Electromagnetic Torque

212

(1)

Derivation of Commonly Used Induction Motor Models

213

(1)

Stator Reference Frames Model

213

(1)

Rotor Reference Frames Model

214

(1)

Synchronously Rotating Reference Frames Model

215

(3)

Equations in Flux Linkages

218

(2)

Per-Unit Model

220

(3)

Dynamic Simulation

223

(3)

Small-Signal Equations of the Induction Machine

226

(10)

Derivation

226

(8)

Normalized Small-Signal Equations

234

(2)

Evaluation of Control Characteristics of the Induction Machine

236

(6)

Transfer Functions and Frequency Responses

236

(2)

Computation of Time Responses

238

(4)

Space-Phasor Model

242

(12)

Principle

242

(1)

DQ Flux-Linkages Model Derivation

243

(1)

Root Loci of the DQ Axes-Based Induction Machine Model

244

(2)

Space-Phasor Model Derivation

246

(2)

Root Loci of the Space-Phasor Induction Machine Model

248

(1)

Expression for Electromagnetic Torque

249

(3)

Analytical Solution of Machine Dynamics

252

(1)

Signal-Flow Graph of the Space-Phasor-Modeled Induction Motor

253

(1)

Control Principle of the Induction Motor

254

(3)

References

257

(1)

Discussion Questions

258

(1)

Exercise Problems

259

(3)

Phase-Controlled Induction Motor Drives

262

(51)

Introduction

262

(1)

Stator-Voltage Control

263

(20)

Power Circuit and Gating

263

(1)

Reversible Controller

263

(2)

Steady-State Analysis

265

(2)

Approximate Analysis

267

(1)

Motor Model and Conduction Angle

267

(2)

Fourier Resolution of Voltage

269

(2)

Normalized Currents

271

(1)

Steady-State Performance Computation

272

(1)

Limitations

273

(1)

Torque-Speed Characteristics with Phase Control

273

(1)

Interaction of the Load

273

(2)

Steady-State Computation of the Load Interaction

275

(4)

Closed-Loop Operation

279

(1)

Efficiency

279

(3)

Applications

282

(1)

Slip-Energy Recovery Scheme

283

(25)

Principle of Operation

283

(1)

Slip-Energy Recovery Scheme

283

(2)

Steady-State Analysis

285

(2)

Range of Slip

287

(1)

Equivalent Circuit

287

(2)

Performance Characteristics

289

(7)

Starting

296

(1)

Rating of the Converters

296

(1)

Bridge-Rectifier Ratings

297

(1)

Phase-Controlled Converter

297

(1)

Filter Choke

297

(1)

Closed-Loop Control

298

(1)

Sixth-Harmonic Pulsating Torques

299

(4)

Harmonic Torques

303

(1)

Static Scherbius Drive

304

(1)

Applications

305

(3)

References

308

(1)

Discussion Questions

309

(2)

Exercise Problems

311

(2)

Frequency-Controlled Induction Motor Drives

313

(98)

Introduction

313

(1)

Static Frequency Changers

313

(4)

Voltage-Source Inverter

317

(3)

Modified McMurray Inverter

317

(2)

Full-Bridge Inverter Operation

319

(1)

Voltage-Source Inverter-Driven Induction Motor

320

(61)

Voltage Waveforms

320

(3)

Real Power

323

(1)

Reactive Power

323

(1)

Speed Control

324

(1)

Constant Volts/Hz Control

325

(1)

Relationship Between Voltage and Frequency

325

(3)

Implementation of Volts/Hz Strategy

328

(2)

Steady-State Performance

330

(1)

Dynamic Simulation

330

(8)

Small-Signal Responses

338

(2)

Direct Steady-State Evaluation

340

(6)

Constant Slip-Speed Control

346

(1)

Drive Strategy

346

(1)

Steady-State Analysis

347

(3)

Constant-Air Gap-Flux Control

350

(1)

Principle of Operation

350

(1)

Drive Strategy

350

(4)

Torque Pulsations

354

(1)

General

354

(1)

Calcualtion of Torque Pulsations

354

(6)

Effects of Time Harmonics

360

(2)

Control of Harmonics

362

(1)

General

362

(1)

Phase-Shifting Control

362

(3)

Pulse-Width Modulation (PWM)

365

(4)

Steady-State Evaluation with PWM Voltages

369

(1)

PWM Voltage Generation

369

(1)

Machine Model

370

(2)

Direct Evaluation of Steady-State Current Vector by Boundary-Matching Technique

372

(1)

Computation of Steady-State Performance

373

(4)

Flux-Weakening Operation

377

(1)

Flux Weakening

377

(2)

Calculation of Slip

379

(1)

Maximum Stator Frequency

380

(1)

Current-Source Induction Motor Drives

381

(24)

General

381

(1)

ASCI

382

(1)

Commutation

382

(1)

Phase-Sequence Reversal

383

(1)

Regeneration

384

(1)

Comparison of Converters for AC and DC Motor Drives

385

(1)

Steady-State Performance

385

(4)

Direct Steady-State Evaluation of Six-Step Current-Source Inverter-Fed Induction Motor (CSIM) Drive System

389

(7)

Closed-Loop CSIM Drive System

396

(2)

Dynamic Simulation of the Closed-Loop CSIM Drive System

398

(7)

Applications

405

(1)

References

406

(1)

Discussion Questions

407

(2)

Exercise Problems

409

(2)

Vector-Controlled Induction Motor Drives

411

(102)

Introduction

411

(1)

Principle of Vector Control

412

(3)

Direct Vector Control

415

(31)

Description

415

(1)

Flux and Torque Processor

416

(1)

Terminal voltages

417

(3)

Induced emf from flux sensing coils or Hall sensors

420

(2)

Implementation with Six-Step Current Source

422

(3)

Implementation with Voltage Source

425

(1)

Direct Vector (Self) Control in Stator Reference Frames with Space-Vector Modulation

426

(20)

Derivation of Indirect Vector-Control Scheme

446

(2)

Indirect Vector-Control Scheme

448

(2)

An Implementation of an Indirect Vector-Control Scheme

450

(4)

Tuning of the Vector Controller

454

(3)

Flowchart for Dynamic Computation

457

(1)

Dynamic Simulation Results

458

(3)

Parameter Sensitivity of the Indirect Vector-Controlled Induction Motor Drive

461

(14)

Parameter Sensitivity Effects When the Outer Speed Loop Is Open

461

(1)

Expression for Electromagnetic Torque

461

(2)

Expression for the Rotor Flux Linkages

463

(1)

Steady-State Results

463

(3)

Transient Characteristics

466

(2)

Parameter Sensitivity Effects on a Speed-Controlled Induction Motor Drive

468

(1)

Steady-State Characteristics

469

(4)

Discussion on Transient Characteristics

473

(1)

Parameter Sensitivity of Other Motor Drives

474

(1)

Parameter Sensitivity Compensation

475

(9)

Modified Reactive-Power Compensation Scheme

476

(1)

Parameter Compensation with Air Gap-Power Feedback Control

477

(1)

Steady-State Performance

478

(4)

Dynamic Performance

482

(2)

Flux-Weakening Operation

484

(8)

Flux-Weakening in Stator-Flux-Linkages-Controlled Schemes

485

(1)

Flux-Weakening in Rotor-Flux-Linkages-Controlled Scheme

486

(1)

Algorithm to Generate the Rotor Flux-Linkages Reference

487

(3)

Constant-Power Operation

490

(2)

Speed-Controller Design for an Indirect Vector-Controlled Induction Motor Drive

492

(10)

Block-Diagram Derivation

492

(1)

Vector-Controlled Induction Machine

492

(3)

Inverter

495

(1)

Speed Controller

495

(1)

Feedback Transfer Functions

495

(1)

Block-Diagram Reduction

496

(1)

Simplified Current-Loop Transfer Function

496

(3)

Speed-Controller Design

499

(3)

Performance and Applications

502

(2)

Application: Centrifuge Drive

503

(1)

Research Status

504

(1)

References

505

(4)

Discussion Questions

509

(2)

Exercise Problems

511

(2)

Permanent-Magnet Synchronous and Brushless DC Motor Drives

513

(108)

Introduction

513

(1)

Permanent Magnets and Characteristics

514

(4)

Permanent Magnets

514

(1)

Air Gap Line

514

(3)

Energy Density

517

(1)

Magnet Volume

518

(1)

Synchronous Machines with PMs

518

(7)

Machine Configurations

519

(2)

Flux-Density Distribution

521

(1)

Line-Start PM Synchronous Machines

522

(1)

Types of PM Synchronous Machines

523

(2)

Vector Control of PM Synchronous Motor (PMSM)

525

(6)

Model of the PMSM

525

(2)

Vector Control

527

(2)

Drive-System Schematic

529

(2)

Control Strategies

531

(8)

Constant (δ = 90°) Torque-Angle Control

531

(3)

Unity-Power-Factor Control

534

(2)

Constant-Mutual-Flux-Linkages Control

536

(1)

Optimum-Torque-Per-Ampere Control

537

(2)

Flux-Weakening Operation

539

(16)

Maximum Speed

539

(1)

Direct Flux-Weakening Algorithm

540

(2)

Control Scheme

542

(1)

Constant-Torque-Mode Controller

543

(1)

Flux-Weakening Controller

544

(1)

System Performance

545

(3)

Indirect Flux-Weakening

548

(1)

Maximum Permissible Torque

548

(1)

Speed-Control Scheme

549

(1)

Implementation Strategy

550

(2)

System Performance

552

(1)

Parameter Sensitivity

552

(3)

Speed-Controller Design

555

(7)

Block-Diagram Derivation

555

(1)

Current Loop

556

(2)

Speed-Controller

558

(4)

Sensorless Control

562

(5)

Parameter Sensitivity

567

(10)

Ratio of Torque to Its Reference

568

(1)

Ratio of Mutual Flux-Linkages to Its Reference

569

(1)

Parameter Compensation Through Air Gap-Power Feedback Control

569

(2)

Algorithm

571

(1)

Performance

572

(5)

PM Brushless DC Motor (PMBDCM)

577

(38)

Modeling of PM Brushless DC Motor

578

(2)

The PMBDCM Drive Scheme

580

(1)

Dynamic Simulation

581

(1)

Commutation-Torque Ripple

582

(4)

Phase-Advancing

586

(1)

Normalized System Equations

587

(1)

Half-Wave PMBDCM Drives

588

(1)

Split-Supply Converter Topology

589

(12)

C-Dump Topology

601

(6)

Variable-DC-Link Converter Topology

607

(4)

Sensorless Control of PMBDCM Drive

611

(3)

Torque-Smoothing

614

(1)

Design of Current and Speed Controllers

614

(1)

Parameter Sensitivity of the PMBDCM Drive

614

(1)

References

615

(1)

Discussion Questions

616

(4)

Exercise Problems

620

(1)

Index

621

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Electric Motor Drives Modeling, Analysis, and Control

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Table of Contents

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Electric Motor Drives Modeling, Analysis, and Control

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Table of Contents

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