electric machine control-1

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Electric Machine Control( , EE 484000)

Electric Machine Control( , EE 484000)

Professor C. M. Liaw( )

Department of Electrical EngineeringNational Tsing Hua University

Hsinchu, Taiwan, ROC.



(C.M. Liaw, )

1

1 (Actuator)

1:

( )

(Motor Drive System)

Open-loopcontrol

(Switching control)

Speed controller

Hardware(customized LSI circuits)

Software(microprocessor)

Power sectionPower sectionControl section

Isolation and driving(Optocoupler or transformer)

Diagnosis, protection( ), ( )

( )

( )

Current feedback loop

Positioncontroller

Speedfeedback loop

Positionfeedback loop

( )( )

d/dt ( )

( )

( )

+ + +

-- -

Power converter

( ) ( )

Motor Mechanical

load

T L (Load torque) B Load (Damping ratio) B Load (Damping ratio) J Load (Inertia constant) J Load (Inertia constant)

wr T e(developed

torque)

J Motor

BMotor

+

-V

i

P( )

( ) ( )

: (sensorless)( ) (multi-loop control)

(digital control) ( )(transformation and decoupling control)

(parameter identification) (adaptive control) (optimal control) (robust control) (intelligent control)

Current controller

C. M. Liaw



(power processing unit)

,

( : on off)

Static loads:Power supplies

Motion loads:Motor drives

(DC,AC)

(DC,AC)

( Power diode)

( SCR)

SCR Power diode

Firing circuit

P

Load

Load

Diode: Uncontrolled turn-on andturn-off

AC source

SCR: Controlled turn-on anduncontrolled turn-off

AC source



Motor-Driven Pump System

Lineinput Inverter Induction

motor

Flowinput

Flow

output

Lineinput

Inductionmotor

Flowoutput

Throttling valve

Flowinput

ASD(Adjustable Speed Drive)

32

2 ,

r r L

r L

T P

T

w w

w

µ´=

µ

(TA-, TB+)

-+

Vd

+

_

TA+

TA- TB-

TB+DA+

DA- DB-

DB+

A

B

TA+ TB-

N

(TA+, TB-)(TA+, TB-)Lock-out

circuit

V control

V tri

Current control

i o

i o*

PWM controller

TA- TB+

Current source



:

1 (i) (ii)

(iii) (iv) (v) (vi)

:

(1)

:

:

,

,

:

:

:

,

Power suppliesPower supplies

Motor drivesMotor drives



(2) :

1 (Power converter)

2

2

[1-3] : (i)

(converter) (ii) (cycloconverter) (iii)

(chopper) (iv) (inverter)

3

Inputfilter

Power Converter

Outputfilter

SwitchingControl Signal

Generator

Powersource

(AC, DC)

Output source(to load)

•

(Cycloconverter)( )

• (Converter): Phase control, integral cycle control• (Inverter): VVVF, VVFF• (Chopper): PWM control, FM control

::

( )

( )

( )

( /)

Feedback Command

Loads:Power suppliesPower suppliesMotor drivesMotor drives



3

:

(a)

(b)

(c)

(Shielding) [3,5]

( ) Power converter

( ) ( )

Motor Mechanical load

T L (Load torque)

B Load (Damping ratio) J Load (Inertia constant)

w r T e(developed

torque)

J Motor

BMotor

+

-Vi

P

( )

( )

( )

Converter - Motor - Mechanical load ( )Converter - Motor - Mechanical load ( )

Motor : Electrical power to Mechanical power P = T e

Mechanical dynamic equation : T e= T L + B + J(d /dt )

t

t

P t

t

t

i a

, .

i a

T e ia,av

: ia,rms : ia,max : ia,max , ia,av , ia,rms

:

> rated : Constant power operation

position sensor current

sensor

w r

q r

T e

w r w r w r

w r



(3) :

1

(Signal conditioner)

[5,6]

(4) :

1



2

(1)

A : :

(a)

(b) :(i) (Constant torque, constant flux):

Speed < rated value;

(ii) (Constant horsepower, field-weakening

control): Speed > rated value.

B : :(a) :

(b) :

(2)

A (Open-loop)

B (Semi closed-loop)



C (closed-loop)

3 (Servo motor)

DC Servo Stepping motor AC Servo

4 Servo motor

(Direct driving, DD)

4

AC

(IM ) SM ( DC )

•

,

(2kW )

• (~100W)• : SRM: SRM

(Switched(Switched --Reluctance Motor)Reluctance Motor)

• ,

(~300W)(PM-type)

(1)

(2) DCDC (BDCM)(BDCM)

((

,,

30W~2kW30W~2kW ))

~

DC



l ( )

l

(1)

(2)

l

l ( )

l

;

[1-12]

4

( )



·

· Power density

·

· Losses thermal capacity

· Torque-per-unit current

· Braking :

· Cogging torque

· Ripple torque

(Ripple torque)

·

· Parameter sensitivity

( f v /µf )

Multi-loop Cascade Control SystemMulti-loop Cascade Control System

PositionController

SpeedController

Current(torque)

Controller ååå

*r q *r q

r q r q

+

-

q e q e +

-

*r w *r w

r w r w

+

-)(T i )(T i

)(* *T i )(* *T i

cont V cont V

kHz BW loopCurrent 2» kHz BW loopCurrent 2»

Hz BW loopSpeed 200» Hz BW loopSpeed 200»

Hz BW loop Position 20» Hz BW loop Position 20»



·

·

5

[14]

750W : (Induction Motor, IM) (Synchronous Reluctance Motor, SynRM) (Surface mount Permanent Magnet Synchronous Motor, SPMSM)

(Interior Permanent Magnet Synchronous Motor,

IPMSM) : (i) (Cogging torque)

IPMSM SPMSM Cogging torque IPMSM

(Saliency) Cogging

torque ; (ii)

IPMSM

SPMSM

SynRM IM

2~3% (iii) SynRM 1.0 IM IPMSM

SPMSM 1.13 1.42 1.5

IPMSM

SynRM IM



[1] S. B. Dewan, G. R. Slemon and A. Atraughen, Power Semiconductor Drives , New York: John Wiley & Sons, 1984.

[2] M. H. Rashid, “ Power electronics: Circuits, devices, and applications ,” Prentice-Hall, New Jersey, 1993.

[3] N. Mohan, T. M. Undeland and W. P. Robbins, Power Electronics , 3rd Ed. JohnWiley & Sons, Inc., 2003.

[4] J. M. Jacob, Power electronics: principles and applications , Delmar ThomsonLearning, 2002.

[5] J. M. Jacob, “ Industrial control electronics: Applications and design ,” Printice-Hall, New Jersey, 1988.

[6] J. G. Bollingor and N. A. Duffie, “ Computer control of machines and processes ,” Addison-Wesley, New York, 1988.

[7] P. C. Krause and Oleg Wasynczuk, ” Electromechanical motion devices ,” NewYork: McGraw-Hill, 1989.

[8] P. C. Krause, O. Wasynczuk and S. D. Sudhoff, Analysis of Electric Machineryand Drive Systems , IEEE Press, 2002.

[9] G. K. Dubey, Fundamental of electrical drives , Pangbourne, UK, Alpha Science,2001

[10] B. K. Bose, Modern Power Electronics and AC Drives , Prentice Hall PTR, NewJersey, 2002.

[11] B. K. Bose, “ Power electronics and variable frequency drives ,” IEEE Press,1997.

[12] Sergey E. Lyshevski, Electromechanical systems, electric machines and applied mechatronics , CRC Press, 2000.[13] Robet W. Erickson and Dragan Maksimovic, Fundamentals of Power Electronics ,

2nd Ed., Kluwer Academic Publishers, 2001.[14] H. Murakami, Y. Honda, H. Kiriyama, S. Morimoto, and Y. Takeda, “ The

performance comparison of SPMSM, IPMSM and SynRM in use as air-conditioning compressor, ” Proceedings of Industry Applications Conference, pp.840-845, 1999.

electric machine control-1

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