modeling simulation and control of electrical drives edited pdf

IET CONTROL, ROBOTICS AND SENSORS SERIES 118 Modeling, Simulation and Control of Electrical Drives www.TechnicalBooksPDF.com Other volumes in this series: Volume Volume Volume 18 Volume 20 Volume 28 Volume 33 Volume 34 Volume 35 Volume 37 Volume 39 Volume 40 Volume 41 Volume 42 Volume 44 Volume 47 Volume 49 Volume 50 Volume 51 Volume 52 Volume 53 Volume 54 Volume 55 Volume 56 Volume 57 Volume 58 Volume 59 Volume 60 Volume 61 Volume 62 Volume 63 Volume 64 Volume 65 Volume 66 Volume 67 Volume 68 Volume 69 Volume 70 Volume 71 Volume 72 A History of Control Engineering, 1800–1930 S Bennett Embedded Mechatronics System Design for Uncertain Environments: Linux‡-based, Rasbpian‡, ARDUINO‡ and MATLAB‡ xPC Target Approaches C.S Chin Applied Control Theory, 2nd Edition J.R Leigh Design of Modern Control Systems D.J Bell, P.A Cook and N Munro (Editors) Robots and Automated Manufacture J Billingsley (Editor) Temperature Measurement and Control J.R Leigh Singular Perturbation Methodology in Control 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The Institution of Engineering and Technology is registered as a Charity in England & Wales (no 211014) and Scotland (no SC038698) † The Institution of Engineering and Technology 2019 First published 2019 This publication is copyright under the Berne Convention and the Universal Copyright Convention All rights reserved Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may be reproduced, stored or transmitted, in any form or by any means, only with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licences issued by the Copyright Licensing Agency Enquiries concerning reproduction outside those terms should be sent to the publisher at the undermentioned address: The Institution of Engineering and Technology Michael Faraday House Six Hills Way, Stevenage Herts, SG1 2AY, United Kingdom www.theiet.org While the authors and publisher believe that the information and guidance given in this work are correct, all parties must rely upon their own skill and judgement when making use of them Neither the authors nor publisher assumes any liability to anyone for any loss or damage caused by any error or omission in the work, whether such an error or omission is the result of negligence or any other cause Any and all such liability is disclaimed The moral rights of the authors to be identified as authors of this work have been asserted by them in accordance with the Copyright, Designs and Patents Act 1988 MATLAB‡ and Simulink‡ are trademarks of The MathWorks, Inc British Library Cataloguing in Publication Data A catalogue record for this product is available from the British Library ISBN 978-1-78561-587-0 (hardback) ISBN 978-1-78561-588-7 (PDF) Typeset in India by MPS Limited Printed in the UK by CPI Group (UK) Ltd, Croydon www.TechnicalBooksPDF.com Contents About the editors Preface Foreword xix xxi xxiii Introduction to electric drives Muhammed Fazlur Rahman 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 12 13 13 Electric machines, dynamic models and sensors in drive systems Mohammad Fazlur Rahman, Rukmi Dutta and Dan Xiao 15 2.1 Introduction 2.2 Electric machines and torque–speed (T–w) boundaries 2.3 T–w 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] 2.4.3 Dynamic model of induction machines in synchronous reference frame 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 www.TechnicalBooksPDF.com 15 15 17 18 18 19 24 35 35 38 38 39 39 42 45 46 47 viii Modeling, simulation and control of electrical drives 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 Converters for drives Ramkrishan Maheshwari 63 3.1 3.2 63 64 66 68 72 76 78 81 Introduction 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 53 56 58 58 59 59 86 90 97 97 98 99 DC motor drives Sanjeev Singh 101 4.1 4.2 4.3 4.4 101 102 104 107 108 110 110 110 110 114 115 116 4.5 Introduction Modeling of DC motor Classification of DC motor drives 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 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 www.TechnicalBooksPDF.com 117 118 Contents 4.6 4.7 4.8 PI controller design Power quality control and sensor reduction for DC motor drives 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 Synchronous motor drives Sanjeet K Dwivedi 5.1 5.2 5.3 5.4 5.5 5.6 5.7 Introduction Classification of synchronous motor drives Magnet torque and reluctance torque-based classification Comparison of IPMSM and PMaSynRM Different control techniques for various synchronous speed motors Operating principle of vector control technique Mathematical model of vector-controlled PMSM drive 5.7.1 Modeling of speed controllers 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 5.9 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 www.TechnicalBooksPDF.com ix 120 121 123 123 123 124 124 124 124 125 125 125 131 131 132 134 134 137 137 138 139 140 140 142 143 143 149 150 150 151 152 152 156 157 157 157 158 158 158 158 158 ... 242 245 245 246 xii Modeling, simulation and control of electrical drives 7.1.2 Operation principle of BLDC motor 7.1.3 Specific features of BLDC motor drives 7.2 Modeling of brushless DC motor... the chapters and for going through many stages of checking the final www.TechnicalBooksPDF.com xxii Modeling, simulation and control of electrical drives versions of their chapters and for their... (2.7) www.TechnicalBooksPDF.com 22 Modeling, simulation and control of electrical drives The flux linkages of phase a, b and c windings, in terms of inductances, phase currents and rotor excitation,