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

Description

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. 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