Control of Electric Machine Drive Systems. Seung-Ki Sul

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1 Control of Electric Machine Drive Systems Seung-Ki Sul

2

3 Control of Electric Machine Drive Systems

4 IEEE Press 445 Hoes Lane Piscataway, NJ IEEE Press Editorial Board Lajos Hanzo, Editor in Chief 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 of IEEE Book and Information Services (BIS)

5 Control of Electric Machine Drive Systems Seung-Ki Sul

6 Copyright Ó 2011 by the Institute of Electrical and Electronics Engineers, Inc. Published by John Wiley & Sons, Inc., Hoboken, New Jersey. All rights reserved. Published simultaneously in Canada No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except as permitted under Section 107 or 108 of the 1976 United States Copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per-copy fee to the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, (978) , fax (978) , or on the web at Requests to the Publisher for permission should be addressed to the Permissions Department, John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030, (201) , fax (201) , or online at permission. Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts in preparing this book, they make no representations or warranties with respect to the accuracy or completeness of the contents of this book and specifically disclaim any implied warranties of merchantability or fitness for a particular purpose. No warranty may be created or extended by sales representatives or written sales materials. The advice and strategies contained herein may not be suitable for your situation. You should consult with a professional where appropriate. Neither the publisher nor author shall be liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other damages. For general information on our other products and services or for technical support, please contact our Customer Care Department within the United States at (800) , outside the United States at (317) or fax (317) Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be available in electronic formats. For more information about Wiley products, visit our web site at Library of Congress Cataloging-in-Publication Data: Sul, Seung-Ki. Control of electric machine drive system / Seung-Ki Sul. p. cm. (IEEE Press series on power engineering ; 55) Includes bibliographical references. Summary: This book is based on the author s industry experience. It contains many exercise problems that engineers would experience in their day-to-day work. The book was published in Korean at 500 pages as a textbook. The book will contain over 300 figures. Provided by publisher. Summary: This book is based on the author s industry experience. It contains many exercise problems that engineers would experience in their day-to-day work Provided by publisher. ISBN (hardback) 1. Electric driving Automatic control. I. Title. TK4058.S dc Printed in the United States of America ebook: obook:

7 To my father, who lived his whole life as an unknown engineer.

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9 Contents Preface xiii 1 Introduction Introduction Electric Machine Drive System Trend of Development of Electric Machine Drive System Trend of Development of Power Semiconductor Trend of Development of Control Electronics Basics of Mechanics Basic Laws Force and Torque Moment of Inertia of a Rotating Body Equations of Motion for a Rigid Body Power and Energy Continuity of Physical Variables Torque Speed Curve of Typical Mechanical Loads Fan, Pump, and Blower Hoisting Load; Crane, Elevator Traction Load (Electric Vehicle, Electric Train) Tension Control Load 23 Problems 24 References 35 2 Basic Structure and Modeling of Electric Machines and Power Converters Structure and Modeling of DC Machine Analysis of Steady-State Operation Separately Excited Shunt Machine Series Excited DC Machine Analysis of Transient State of DC Machine Separately Excited Shunt Machine Power Electronic Circuit to Drive DC Machine Static Ward Leonard System Four-Quadrants Chopper System Rotating Magnetic Motive Force Steady-State Analysis of a Synchronous Machine 58 vii

10 viii Contents 2.7 Linear Electric Machine Capability Curve of Synchronous Machine Round Rotor Synchronous Machine with Field Winding Permanent Magnet Synchronous Machine Parameter Variation of Synchronous Machine Stator and Field Winding Resistance Synchronous Inductance Back EMF Constant Steady-State Analysis of Induction Machine Steady-State Equivalent Circuit of an Induction Machine Constant Air Gap Flux Operation Generator Operation of an Induction Machine Variation of Parameters of an Induction Machine Variation of Rotor Resistance, R r Variation of Rotor Leakage Inductance, L lr Variation of Stator Resistance, R s Variation of Stator Leakage Inductance, L ls Variation of Excitation Inductance, L m Variation of Resistance Representing Iron Loss, R m Classification of Induction Machines According to Speed Torque Characteristics Quasi-Transient State Analysis Capability Curve of an Induction Machine Comparison of AC Machine and DC Machine Comparison of a Squirrel Cage Induction Machine and a Separately Excited DC Machine Comparison of a Permanent Magnet AC Machine and a Separately Excited DC Machine Variable-Speed Control of Induction Machine Based on Steady-State Characteristics Variable Speed Control of Induction Machine by Controlling Terminal Voltage Variable Speed Control of Induction Machine Based on Constant Air-Gap Flux ( V = F) Control Variable Speed Control of Induction Machine Based on Actual Speed Feedback Enhancement of Constant Air-Gap Flux Control with Feedback of Magnitude of Stator Current Modeling of Power Converters Three-Phase Diode/Thyristor Rectifier PWM Boost Rectifier Two-Quadrants Bidirectional DC/DC Converter Four-Quadrants DC/DC Converter Three-Phase PWM Inverter Matrix Converter Parameter Conversion Using Per Unit Method 106 Problems 108 References 114

11 Contents ix 3 Reference Frame Transformation and Transient State Analysis of Three-Phase AC Machines Complex Vector d q n Modeling of an Induction Machine Based on Complex Space Vector Equivalent Circuit of an Induction Machine at d q n AXIS Torque of the Induction Machine d q n Modeling of a Synchronous Machine Based on Complex Space Vector Equivalent Circuit of a Synchronous Machine at d q n AXIS Torque of a Synchronous Machine Equivalent Circuit and Torque of a Permanent Magnet Synchronous Machine Synchronous Reluctance Machine (SynRM) 144 Problems 146 References Design of Regulators for Electric Machines and Power Converters Active Damping Current Regulator Measurement of Current Current Regulator for Three-Phase-Controlled Rectifier Current Regulator for a DC Machine Driven by a PWM Chopper Anti-Wind-Up AC Current Regulator Speed Regulator Measurement of Speed/Position of Rotor of an Electric Machine Estimation of Speed with Incremental Encoder Estimation of Speed by a State Observer PI/IP Speed Regulator Enhancement of Speed Control Performance with Acceleration Information Speed Regulator with Anti-Wind-Up Controller Position Regulator Proportional Proportional and Integral (P PI) Regulator Feed-Forwarding of Speed Reference and Acceleration Reference Detection of Phase Angle of AC Voltage Detection of Phase Angle on Synchronous Reference Frame Detection of Phase Angle Using Positive Sequence Voltage on Synchronous Reference Frame Voltage Regulator Voltage Regulator for DC Link of PWM Boost Rectifier 215 Problems 218 References 228

12 x Contents 5 Vector Control Instantaneous Torque Control Separately Excited DC Machine Surface-Mounted Permanent Magnet Synchronous Motor (SMPMSM) Interior Permanent Magnet Synchronous Motor (IPMSM) Vector Control of Induction Machine Direct Vector Control Indirect Vector Control Rotor Flux Linkage Estimator Voltage Model Based on Stator Voltage Equation of an Induction Machine Current Model Based on Rotor Voltage Equation of an Induction Machine Hybrid Rotor Flux Linkage Estimator Enhanced Hybrid Estimator Flux Weakening Control Constraints of Voltage and Current to AC Machine Operating Region of Permanent Magnet AC Machine in Current Plane at Rotor Reference Frame Flux Weakening Control of Permanent Magnet Synchronous Machine Flux Weakening Control of Induction Machine Flux Regulator of Induction Machine 267 Problems 269 References Position/Speed Sensorless Control of AC Machines Sensorless Control of Induction Machine Model Reference Adaptive System (MRAS) Adaptive Speed Observer (ASO) Sensorless Control of Surface-Mounted Permanent Magnet Synchronous Machine (SMPMSM) Sensorless Control of Interior Permanent Magnet Synchronous Machine (IPMSM) Sensorless Control Employing High-Frequency Signal Injection Inherently Salient Rotor Machine AC Machine with Nonsalient Rotor 305 Problems 317 References Practical Issues Output Voltage Distortion Due to Dead Time and Its Compensation Compensation of Dead Time Effect 325

13 Contents xi Zero Current Clamping (ZCC) Voltage Distortion Due to Stray Capacitance of Semiconductor Switches Prediction of Switching Instant Measurement of Phase Current Modeling of Time Delay of Current Measurement System Offset and Scale Errors in Current Measurement Problems Due to Digital Signal Processing of Current Regulation Loop Modeling and Compensation of Current Regulation Error Due to Digital Delay Error in Current Sampling 346 Problems 350 References 353 Appendix A Measurement and Estimation of Parameters of Electric Machinery 354 A.1 Parameter Estimation 354 A.1.1 DC Machine 355 A.1.2 Estimation of Parameters of Induction Machine 357 A.2 Parameter Estimation of Electric Machines Using Regulators of Drive System 361 A.2.1 Feedback Control System 361 A.2.2 Back EMF Constant of DC Machine, K 363 A.2.3 Stator Winding Resistance of Three-Phase AC Machine, R s 363 A.2.4 Induction Machine Parameters 365 A.2.5 Permanent Magnet Synchronous Machine 370 A.3 Estimation of Mechanical Parameters 374 A.3.1 Estimation Based on Mechanical Equation 374 A.3.2 Estimation Using Integral Process 376 References 380 Appendix B d q Modeling Using Matrix Equations 381 B.1 Reference Frame and Transformation Matrix 381 B.2 d q Modeling of Induction Machine Using Transformation Matrix 386 B.3 d q Modeling of Synchronous Machine Using Transformation Matrix 390 Index 391 IEEE Press Series on Power Engineering 401

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15 Preface It has been eight years since my book, Control Theory of Electric Machinery, was published in Korean. In the past six years, more than 2500 copies of the book have been sold in Korea. Some of them are used as a textbook for a graduate course at several universities in Korea. But most of them are used as a reference book in the industry. After publishing the book in Korean, I received a lot of encouragement and inquiry to translate the book into English. But my tight schedule has delayed the translation. However, four years ago, several foreign students and visitors attended my graduate course class and they need some study materials so I was forced to translate the book into English. After two years of hard work, the English-version manuscript is now ready for publication. During the translation, the contents of this book was revised and upgraded. I hope that this book will be a good reference for the students and engineers in the field. Modern technology, which today is called information technology, is based on the stable supply of energy, especially electric energy which is the most widely used. Many people in modern society think that electric energy can be produced for as long as we want. However, because clean water and air are growing scarce, electric energy comes to us as a very limited resource. As modern society develops, more and more electric energy is needed. But mass production, transportation, and use of environmentally friendly electric energy have become a very difficult problem. Electric energy goes through various steps of transformation from production to final use. Mechanical energy acquired from a primary energy source such as oil, gas, nuclear, and hydraulic power can be converted to electric energy through electromechanical energy conversion. More precisely, after mechanical energy from various sources is transformed to electric energy through a generator, voltage and frequency are controlled for proper purpose, and in developed countries, more than 60% of energy is transformed into mechanical energy again for later use. Hence, in the whole process of production and consumption of electric energy, the most critical fields of engineering are efficient control of voltage/current and frequency and appropriate control of electric machines. For 30 years my academic interest has been the control of electric machinery and I have dedicated myself to research and development of this field. This book has been written to share these experiences with my colleagues. Even small research results cannot be achieved alone and I owe this book to the efforts of many others. First of all, I mention my academic advisor for Master s and Ph.D. courses taken at Seoul National University, Professor Minho Park, who opened my path in the field of power electronics and control of electric machines. Second, I recognize my honored professor and at the same time my father-in-law, Jongsoo xiii

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