Control of Electric Machine Drive Systems
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1 Control of Electric Machine Drive Systems Seung-Ki Sul IEEE 1 PRESS к SERIES I 0N POWER ENGINEERING Mohamed E. El-Hawary, Series Editor IEEE PRESS WILEY A JOHN WILEY & SONS, INC., PUBLICATION
2 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 vn
3 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 fr Variation of Stator Resistance, R, Variation of Stator Leakage Inductance, L & 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 (RSYF) 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
4 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 Р1ЛР 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
5 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
6 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, К 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 В d-q Modeling Using Matrix Equations 381 B.l 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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