Power Electronics 2 Eletrical Drives

POWER ELECTRONICS
EPE 550
CIRCUITS, DEVICES, AND APPLICATIONS
ELECTRICAL DRIVES:
An Application of Power Electronics
Eng.Mohammed Alsumady
CONTENTS
Power Electronic Systems
Modern Electrical Drive Systems
Power Electronic Converters in Electrical Drives

:: DC and AC Drives
Modeling and Control of Electrical Drives
:: Current controlled Converters
:: Modeling of Power Converters
:: Scalar control of IM

What is Power Electronics ?
A field of Electrical Engineering that deals with the application of
power semiconductor devices for the control and conversion of
electric power
Input
Source
- AC
- DC
- unregulated
Reference
sensors
Power Electronics
Converters
Load
Output
- AC
- DC
Controller
POWER ELECTRONIC
CONVERTERS the
heart of power in a power
electronics system

Why Power Electronics ?
Power semiconductor devices
Power switches
isw
ON or OFF
+
vsw
=0
isw = 0
Ploss = vsw isw = 0

+
Losses ideally ZERO !
vsw

ia
Power switches
Vak
Vak
Vak
+
A
ia
ia

Power switches
iD
ic
+
VDS
VCE
-
S
E

Passive elements
+
VL
iL
High frequency
transformer
V1
V2
Inductor
+
iC
VC

sensors
Input
Source
- AC
- DC
- unregulated
Reference
Power Electronics
Converters
IDEALLY LOSSLESS
Load !
Output
- AC
- DC
Controller

Other factors:
Improvements in power semiconductors fabrication
Power Integrated Module (PIM),
Intelligent Power Modules (IPM)
Decline cost in power semiconductor
Advancement in semiconductor fabrication
ASICs
FPGA
DSPs
Faster and cheaper to implement

complex algorithm
Advancement in semiconductor fabrication
A field-programmable gate array (FPGA) is an integrated circuit designed to be configured

by the customer or designer after manufacturinghence "field-programmable". The FPGA
configuration is generally specified using a hardware description language (HDL), similar to
that used for an application-specific integrated circuit (ASIC) circuit diagrams were
previously used to specify the configuration, as they were for ASICs, but this is increasingly
rare). FPGAs can be used to implement any logical function that an ASIC could perform. The
ability to update the functionality after shipping, partial re-configuration of the portion of the
design and the low non-recurring engineering costs relative to an ASIC design
(notwithstanding the generally higher unit cost), offer advantages for many applications.
FPGAs contain programmable logic components called "logic blocks", and a hierarchy of
reconfigurable interconnects that allow the blocks to be "wired together"somewhat like
many (changeable) logic gates that can be inter-wired in (many) different configurations.
Logic blocks can be configured to perform complex combinational functions, or merely
simple logic gates like AND and XOR. In most FPGAs, the logic blocks also include memory
elements, which may be simple flip-flops or more complete blocks of memory.
In addition to digital functions, some FPGAs have analog features. The most common analog
feature is programmable slew rate and drive strength on each output pin, allowing the
engineer to set slow rates on lightly loaded pins that would otherwise ring unacceptably, and
to set stronger, faster rates on heavily loaded pins on high-speed channels that would
otherwise run too slow. Another relatively common analog feature is differential comparators
on input pins designed to be connected to differential signaling channels.
A field-programmable gate array (FPGA)

The FPGA industry sprouted from programmable read-only
memory (PROM) and programmable logic devices (PLDs).
PROMs and PLDs both had the option of being programmed
in batches in a factory or in the field (field programmable),
however programmable logic was hard-wired between logic
gates.
A recent trend has been to take the coarse-grained architectural
approach a step further by combining the logic blocks and
interconnects of traditional FPGAs with embedded
microprocessors and related peripherals to form a complete
"system on a programmable chip.
A field-programmable gate array (FPGA)

Some Applications of Power Electronics :
Typically used in systems requiring efficient control and conversion of
electric energy:
Domestic and Commercial Applications

Industrial Applications
Telecommunications
Transportation
Generation, Transmission and Distribution of electrical energy
Power rating of < 1 W (portable equipment)
Tens or hundreds Watts (Power supplies for computers /office equipment)
kW to MW : drives
Hundreds of MW in DC transmission system (HVDC)
About 50% of electrical energy used for drives
Can be either used for fixed speed or variable speed
75% - constant speed, 25% variable speed (expanding)
Variable speed drives typically used PEC to supply the motors

DC motors (brushed)
SRM
IM: Induction Motor

PMSM: Permanent Magnet Synchronous Motor
SRM: Switched Reluctance Motor
BLDC: Brushless DC Motor
BLDC
AC motors
- IM
- PMSM
Permanent Magnet Synchronous Motor

The Permanent Magnet Synchronous motor is a rotating electric machine
where the stator is a classic three phase stator like that of an induction
motor and the rotor has permanent magnets. In this respect, the PM
Synchronous motor is equivalent to an induction motor, except the rotor
magnetic field in case of PMSM is produced by permanent magnets. The
use of a permanent magnet to generate a substantial air gap magnetic flux
makes it possible to design highly efficient PM motors. Medium
construction complexity, multiple fields, delicate magnets
High reliability (no brush wear), even at very high achievable speeds
High efficiency
Low EMI
Driven by multi-phase Inverter controllers
Sensorless speed control possible
Higher total system cost than for DC motors
Smooth rotation - without torque ripple
Appropriate for position control
Permanent Magnet Synchronous Motor
Switched Reluctance (SR) Motor

Switched reluctance (SR) motor is a brushless AC motor. It has simple
mechanical construction and does not require permanent magnet for its
operation. The stator and rotor in a SR motor have salient poles. The
number of poles presence on the stator depends on the number of phases
the motor is designed to operate in. Normally, two stator poles at opposite
ends are configured to form one phase. In this configuration, a 3-phase SR
motor has 6 stator poles. The number of rotor poles are chosen to be
different to the number of stator poles. A 3-phase SR motor with 6 stator
poles and 4 rotor poles is also known as a 6/4 3-Phase SR motor.
SR motor has the phase winding on its stator only. Concentrated windings
are used. The windings are inserted onto the stator poles and connected in
series to form one phase of the motor. In a 3-Phase SR motor, there are 3
pairs of concentrated windings and each pair of the winding is connected in
series to form each phase respectively.
Future Electric Motors Build will be SR Motors

The small-size SR motor was developed by Akira Chiba, professor at the
Department of Electrical Engineering, Faculty of Science & Technology,
Tokyo University of Science.
The prototyped SR motor has the same size as the 50kW synchronous
motor equipped in the second-generation Toyota Prius. Currently all
produced Electric cars are equipped with a synchronous motor whose
rotor is embedded with a permanent magnet.
But as the permanent magnets are getting more and more pricey (the price
has doubled or tripled) because of higher demand, the future of SR
Motors is now imminent.
A four-phase 8/6 switched-reluctance motor is shown in cross section. In
order to produce continuous shaft rotation, each of the four stator phases is
energized and then de-energized in succession at specific positions of the
rotor as illustrated.
Future electric motors build will be SR Motors.
Brushless DC Motor
A BLDC motor has permanent magnets which rotate, and a fixed armature,
eliminating the problems of connecting current to the moving armature. An
electronic controller replaces the brush commutator assembly of the
brushed DC motor, which continually switches the phase to the windings to
keep the motor turning. The controller performs similar timed power
distribution by using a solid-state circuit rather than the brush commutator
system.
BLDC motors offer several advantages over brushed DC motors, including
more torque per weight, more torque per watt (increased efficiency),
increased reliability, reduced noise, longer lifetime (no brush and
commutator erosion), elimination of ionizing sparks from the commutator,
and overall reduction of electromagnetic interference (EMI). With no
windings on the rotor, they are not subjected to centrifugal forces, and
because the windings are supported by the housing, they can be cooled by
conduction, requiring no airflow inside the motor for cooling. This in turn
means that the motor's internals can be entirely enclosed and protected
from dirt or other foreign matter.
BLDC: Brushless DC Motor

Classic Electrical Drive for Variable Speed Application :
Bulky
Inefficient
inflexible

Typical Modern Electric Drive Systems
Electric Motor
Power Electronic Converters

Electric Energy
- Unregulated -
POWER IN
Electric Energy
- Regulated -
Power
Electronic
Converters
Moto
r
feedback
Reference
Controller
Electric
Energy
Mechanical
Energy
Load

Example on Variable Speed Drives (VSD) application
Variable Speed Drives
Constant speed
valve
Supply
motor
pump
Power out
Power
In
Power loss
Mainly in valve

Example on Variable Speed Drives (VSD) application
Constant speed
valve
Supply
motor
Supply
pump
PEC
Power out
Power
In
motor
pump
Power out
Power
In
Power loss
Mainly in valve
Power loss

Example on VSD application
Constant speed
valve
Supply
motor
Supply
pump
PEC
Power out
Power
In
motor
pump
Power out
Power
In
Power loss
Mainly in valve
Power loss

Example on VSD application
Electric motor consumes more than half of electrical energy in the US
Fixed speed
Variable speed
Improvements in energy utilization in electric motors give large impact

to the overall energy consumption
HOW ?
Replacing fixed speed drives with variable speed drives
Using the high efficiency motors
Improves the existing power converterbased drive systems

Overview of AC and DC drives
DC drives: Electrical drives that use DC motors as the prime mover
Regular maintenance, heavy, expensive, speed limit
Easy control, decouple control of torque and flux
AC drives: Electrical drives that use AC motors as the prime mover
Less maintenance, light, less expensive, high speed

Coupling between torque and flux variable spatial angle
between rotor and stator flux

Before semiconductor devices were introduced (<1950)
AC motors for fixed speed applications
DC motors for variable speed applications
After semiconductor devices were introduced (1960s)
Variable frequency sources available AC motors in variable speed
applications
Coupling between flux and torque control
Application limited to medium performance applications fans,
blowers, compressors scalar control
High performance applications dominated by DC motors tractions,

elevators, servos, etc

After vector control drives were introduced (1980s)
AC motors used in high performance applications elevators,
tractions, servos
AC motors favorable than DC motors however control is
complex hence expensive
Cost of microprocessor/semiconductors decreasing predicted
30 years ago AC motors would take over DC motors

Extracted from Boldea & Nasar
Power Electronic Converters in Electrical Drive Systems

Converters for Motor Drives
(some possible configurations)
DC Drives
DC Source
AC Source
DC-AC-DC
AC-DC
AC Drives
AC-DC-DC
DC Source
AC Source
DC-DC
AC-DC-AC
Const.
DC
Variable
DC
AC-AC
NCC
FCC
DC-AC
DC-DC-AC
Power Electronic Converters in ED Systems

Converters for Motor Drives
Configurations of Power Electronic Converters depend on:

Sources available
Type of Motors
Drive Performance - applications
- Braking
- Response
- Ratings

DC DRIVES
Available AC source to control DC motor (brushed)
AC-DC
AC-DC-DC
Uncontrolled Rectifier
Control
Controlled Rectifier
Single-phase
Three-phase
Single-phase
Three-phase
Control
DC-DC Switched mode
1-quadrant, 2-quadrant
4-quadrant

DC DRIVES
AC-DC
400
200
0
+
50Hz
1-phase
Vo
Vo
2Vm
cos
-200
-400
0.4
0.405
0.41
0.415
0.42
0.425
0.43
0.435
0.44
0.405
0.41
0.415
0.42
0.425
0.43
0.435
0.44
0.405
0.41
0.415
0.42
0.425
0.43
0.435
0.44
0.405
0.41
0.415
0.42
0.425
0.43
0.435
0.44
10
Average voltage
over 10ms
0
0.4
500
50Hz
3-phase
+
Vo
-
-500
Vo
3VL - L,m
0.4
cos
30
20
Average voltage
over 3.33 ms
10
0
0.4

DC DRIVES
AC-DC
2Vm
+
50Hz
1-phase
Vo
Vo
2Vm
cos
90o
180o
90o
180o
Average voltage
over 10ms
2Vm
3VL-L,m
50Hz
3-phase
+
Vo
-
Vo
3VL - L,m
cos
Average voltage
over 3.33 ms
3VL-L,m

DC DRIVES
AC-DC
ia
Vt
+
3-phase
supply
Vt
Q2
Q1
Q3
Q4
- Operation in quadrant 1 and 4 only
Ia

DC DRIVES
AC-DC
3phase
supply
+
3-phase
supply
Vt
-
Q2
Q1
Q3
Q4

DC DRIVES
AC-DC
R1
F1
3-phase
supply
+
Va
F2
R2
Q2
Q1
Q3
Q4

DC DRIVES
AC-DC
Cascade control structure with armature reversal (4-quadrant):
iD
ref +
Speed
controller
_
iD,ref +
_
iD,ref
iD,
Current
Controller
Armature
reversal
Firing
Circuit

DC DRIVES
AC-DC-DC
Uncontrolled
rectifier
control
Switch Mode DC-DC

1-Quadrant
2-Quadrant
4-Quadrant

DC DRIVES
AC-DC-DC
control

DC DRIVES
AC-DC-DC
DC-DC: Two-quadrant Converter

Va
T1
D1
ia
Vdc
-
Q2
Ia
+
T2
Q1
D2
Va
-
T1 conducts va = Vdc

DC DRIVES
AC-DC-DC

Va
T1
D1
ia
Vdc
-
Q2
Q1
Ia
+
T2
D2
Va
-
D2 conducts va = 0
Va
T1 conducts va = Vdc
Eb
Quadrant 1 The average voltage is made larger than the back emf

DC DRIVES
AC-DC-DC

Va
T1
D1
ia
Vdc
-
Q2
Ia
+
T2
Q1
D2
Va
-
D1 conducts va = Vdc

DC DRIVES
AC-DC-DC

Va
T1
D1
ia
Vdc
-
Q2
Q1
Ia
+
T2
D2
Va
-
T2 conducts va = 0
Va
D1 conducts va = Vdc
Eb
Quadrant 2 The average voltage is made smallerr than the back emf, thus
forcing the current to flow in the reverse direction

DC DRIVES
AC-DC-DC
2vtri
+
vA
vc
Vdc
0
+
vc

DC DRIVES
AC-DC-DC
DC-DC: Four-quadrant Converter

leg A
Q1
leg B
D3
D1
+ Va -
Q3
Vdc
-
Positive current
va = Vdc
when Q1 and Q2 are ON
Q4
D4
D2
Q2

DC DRIVES
AC-DC-DC

leg A
Q1
leg B
D3
D1
+ Va -
Q3
Vdc
-
Q4
D4
Positive current
va = Vdc
va = -Vdc
when D3 and D4 are ON
va = 0
when current freewheels through Q and D
D2
Q2

DC DRIVES
AC-DC-DC

leg A
Q1
leg B
D3
D1
+ Va -
Q3
Vdc
-
Q4
D4
Positive current
va = Vdc
va = -Vdc
va = 0
D2
Q2
Negative current
va = Vdc

DC DRIVES
AC-DC-DC

leg A
Q1
leg B
D3
D1
+ Va -
Q3
Vdc
-
Q4
D4
Positive current
D2
Q2
Negative current
va = Vdc
va = Vdc
va = -Vdc
va = -Vdc
va = 0
va = 0

DC DRIVES
AC-DC-DC
Bipolar switching scheme output

swings between VDC and -VDC
2vtri
Vdc
+
vA
+
vB
vA
vc
Vdc
0
Vdc
vB
0
Vdc
vc
vAB
+
_
-Vdc

DC DRIVES
AC-DC-DC
Unipolar switching scheme output

swings between Vdc and -Vdc
vc
Vtri
-vc
Vdc
+
vA
+
vB
Vdc
vA
0
Vdc
vc
vB
+
_
-vc
0
Vdc
vAB

DC DRIVES
AC-DC-DC

Armature
current
200
150
Vdc
Vdc
200
Vdc
100
100
50
50
-50
-50
-100
-100
-150
-150
-200
-200
0.04
Armature
current
150
0.0405 0.041
0.0415 0.042
0.0425 0.043
0.0435 0.044
0.0445 0.045
Bipolar switching scheme
0.04
0.0405 0.041
0.0415 0.042
0.0425 0.043
0.0435 0.044
0.0445 0.045
Unipolar switching scheme
Current ripple in unipolar is smaller
Output frequency in unipolar is effectively doubled

AC DRIVES
AC-DC-AC
control
The common PWM technique:
CB-SPWM with ZSS

SVPWM

Control the torque, speed or position
Cascade control structure

Example of current control in cascade control structure
*
+
*
+
position
controller
T*
speed
controller
current
controller
kT
1/s
Motor
converter

Current controlled converters in DC Drives - Hysteresis-based
+
ia
Vdc
+
iref
Va
va
iref
+
_
ierr
High bandwidth, simple implementation,

insensitive to parameter variations
Variable switching frequency depending on

operating conditions
ierr

Current controlled converters in AC Drives - Hysteresis-based
i*a
i*b
i*c
Converter
For isolated neutral load, ia + ib + ic = 0

control is not totally independent
Instantaneous error for isolated neutral load can
reach double the band
3-phase
AC Motor

iq
is
Dh Dh
id
For isolated neutral load, ia + ib + ic = 0

control is not totally independent
Instantaneous error for isolated neutral load can

reach double the band
Dh Dh

Continuous
Dh = 0.3 A
Sinusoidal reference current, 30Hz
Vdc = 600V
10W, 50mH load
powergui
Scope
iaref
g
To Workspace 1
+
DC Voltage Source
c1
p1
c2
p2
c3
p3
ina
p4
inb
p5
inc
p6
Subsystem
Sine Wave 2
Measurement 3
Series RLC Branch Current
3
Universal Bridge 1
i
+
Measurement 1
Series RLC BranchCurrent
1
i
+
Sine Wave
Sine Wave 1
i
+
Series RLC BranchCurrent

2
Measurement 2

Current error
Actual and reference currents

0.5
10
0.4
0.3
5
0.2
10
0.1
0
-0.1
-0.2
-5
-0.3
-0.4
7
-10
0.005
-0.5
0.01
0.015
6
0.02
0.025
0.03
-0.5
-0.4
10
12
14
16
-3
x 10
-0.3
-0.2
-0.1
0.1
0.2
0.3
0.4
0.5

Current error
Actual current locus

10
0.5
0.6A
-0.5
0.04
0.042
0.044
0.046
0.048
0.05
0.052
0.054
0.056
0.058
0.06
-5
0.5
-10
-10
-5
10
0.6A
-0.5
0.04
0.042
0.044
0.046
0.048
0.05
0.052
0.054
0.056
0.058
0.06
0.5
0.6A
-0.5
0.04
0.042
0.044
0.046
0.048
0.05
0.052
0.054
0.056
0.058
0.06

Current controlled converters in DC Drives - PI-based
Vdc
iref +
-
PI
vc
vc
vPulse
width
tri
modulator
qqq

i*a
i*b
i*c
+
PI
PWM
Converter
PI
+
PWM
PI
PWM
Sinusoidal PWM
Interactions between phases only require 2 controllers
Tracking error
Motor

Perform the 3-phase to 2-phase transformation

- only two controllers (instead of 3) are used
Perform the control in synchronous frame

- the current will appear as DC
Interactions between phases only require 2 controllers

Tracking error

Current controlled converters in AC Drives - PI-based
i*a
i*b
i*c
+
PI
PWM
Converter
PI
+
PWM
PI
PWM
Motor

i*a
PI
i*b
SVM
2-3
3-2
Converter
PI
i*c
3-2
Motor

va*
id*
PI
controller
+
-
iq* +
-
iq
id
dqabc
PI
controller
vb*
SVM
or SPWM
VSI
vc*
Synch speed
estimator
abcdq
IM

Stationary - ia
4
2
-2
-4
0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009
0.01
Rotating - ia
-2
1
0
0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009
0.01
0.002 0.004 0.006 0.008
0.01
0.012 0.014 0.016 0.018
0.02
0.01
0.012 0.014 0.016 0.018
0.02
Rotating - id
-4
Stationary - id
0.002 0.004 0.006 0.008

Modeling of the Power Converters: DC drives with Controlled rectifier
vc
firing
circuit
controlled
rectifier
Va
vc(s)
va(s)
DC motor
The relation between vc and va is determined by the firing circuit

It is desirable to have a linear relation between vc and va

Cosine-wave crossing control
Vm
0
vc
vs
Input voltage
Cosine wave compared with vc
Results of comparison trigger SCRs
Output voltage

Cosine-wave crossing control
cos(t)= vc
Vscos()
Vm
0
vc
v
cos-1 c
vs
vs
2Vm v c -1 v c

coscos
Va
vs
vs
A linear relation between vc and Va

Va is the average voltage over one period of the waveform
- sampled data system
Delays depending on when the control signal changes normally taken

as half of sampling period

Va is the average voltage over one period of the waveform
- sampled data system
Delays depending on when the control signal changes normally taken

as half of sampling period

G H (s) Ke
T
- s
2
Single phase, 50Hz

vc(s)
Va(s)
2Vm
Vs
T=10ms
Three phase, 50Hz

K
3VL - L ,m
Vs
T=3.33ms
Simplified if control bandwidth is reduced to much lower than

the sampling frequency

iref
current
controller
vc
firing
circuit
controlled
rectifier
Va
To control the current current-controlled converter

Torque can be controlled
Only operates in Q1 and Q4 (single converter topology)

Input 3-phase, 240V, 50Hz
Closed loop current control

with PI controller
Scope 3
+
- v
Continuous
Voltage Measurement4
i
+
-
AC Voltage Source
powergui
Scope 2
Current Measurement 1
Step
AC Voltage Source 1
g
A
AC Voltage Source 2
s
v
Controlled Voltage Source

Series RLC Branch
To Workspace
B
+
- v
Universal Bridge
+
- v
Voltage Measurement
i
- +
ia
Current Measurement
To Workspace1
+
- v
alpha_deg
Mux
AB
BC
+
- v
Scope
pulses
CA
Block
Synchronized
Mux
6-Pulse Generator
Scope 1
ir
To Workspace2
PID
Signal
PID Controller Saturation

1
Generator
7
Constant 1
acos
-K -

Input 3-phase, 240V, 50Hz
Closed loop current control

with PI controller
1000
1000
500
500
Voltage
-500
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
-500
0.22
0.23
0.24
0.25
0.26
0.27
0.28
0.25
0.26
0.27
0.28
15
15
10
10
Current
0
0.22
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.23
0.24

Modeling of the Power Converters: DC drives with SM Converters

Vdc
Switching signals obtained by comparing

control signal with triangular wave
+
Va
vtri
q
vc
We want to establish a relation between vc and Va

AVERAGE voltage
vc(s)
Va(s)
DC motor

Ttri
1
q
0
vc
1
d
Ttri
Vc > Vtri
Vc < Vtri
t Ttri
q dt
t on
Ttri
ton
Vdc
1 dTtri
Va Vdc dt dVdc
Ttri 0
0

d
0.5
vc
-Vtri
Vtri
vc
-Vtri
For vc = -Vtri d = 0

d
0.5
vc
-Vtri
-Vtri
Vtri
vc
Vtri
For vc = 0
d = 0.5
For vc = Vtri
d=1

d
0.5
-Vtri
-Vtri
vc
Vtri
Vtri
vc
1
d 0. 5
vc
2Vtri
For vc = 0
d = 0.5
For vc = Vtri
d=1

Thus relation between vc and Va is obtained as:
Va 0.5Vdc
Vdc
vc
2Vtri
Introducing perturbation in vc and Va and separating DC and AC components:
DC:
Vdc
Va 0.5Vdc
vc
2Vtri
AC:
Vdc ~
~
va
vc
2Vtri

Taking Laplace Transform on the AC, the transfer function is obtained as:
v a ( s)
Vdc
v c ( s) 2Vtri
vc(s)
Vdc
2 Vtri
va(s)
DC motor

Vdc
-Vdc
q
vtri
vc
2vtri
Vdc
vA
Vdc
+ VAB
vc
Vdc
vB
Vdc
v
d A 0.5 c
2Vtri
VA 0.5Vdc
Vdc
vc
2Vtri
v
dB 1 - d A 0.5 - c
2Vtri
VB 0.5Vdc -
Vdc
vc
2Vtri
vAB
-Vdc
VA - VB VAB
Vdc
vc
Vtri

v a ( s) Vdc
v c ( s)
Vtri
vc(s)
Vdc
Vtri
va(s)
DC motor

Vdc
vc
Leg b
Vtri
-vc
vtri
Vdc
qa
vc
vA
Leg a
vtri
d A 0.5
vB
qb
-vc
vc
2Vtri
VA 0.5Vdc
Vdc
vc
2Vtri
dB 0.5
VB 0.5Vdc -
- vc
2Vtri
Vdc
vc
2Vtri
vAB
VA - VB VAB
The same average value weve seen for bipolar !
Vdc
vc
Vtri

v a ( s) Vdc
v c ( s)
Vtri
vc(s)
Vdc
Vtri
va(s)
DC motor

DC motor separately excited or permanent magnet
di a
v t ia R a L a
ea
dt
Te = kt ia
Te Tl J
dm
dt
e e = kt
Extract the dc and ac components by introducing small

perturbations in Vt, ia, ea, Te, TL and m
ac components
~
d
i
~
~
v t ia R a L a a ~
ea
dt
~
~
Te k E ( ia )
dc components
Vt Ia R a Ea
Te k EIa
~
~)
ee k E (
Ee k E
~)
d(
~
~
~
Te TL B J
dt
Te TL B()

Perform Laplace Transformation on ac components
~
d
i
~
~
v t ia R a L a a ~
ea
dt
Vt(s) = Ia(s)Ra + LasIa + Ea(s)
~
~
Te k E ( ia )
Te(s) = kEIa(s)
~
~)
ee k E (
Ea(s) = kE(s)
~)
d(
~
~
~
Te TL B J
dt
Te(s) = TL(s) + B(s) + sJ(s)

Tl (s)
Va (s)
+
-
1
R a sL a
Ia (s)
kT
Te (s)
1
B sJ
kE
(s )

q
vtri
Torque
controller
Tc
Vdc
kt
DC motor
Tl (s)
Converter
Te (s)
Torque
controller
+
-
Vdc
Vtri,peak
Ia (s)
1
R a sL a
Va (s)
kT
Te (s)
kE
1
B sJ
(s )

Closed-loop speed control an example
Design procedure in cascade control structure
Inner loop (current or torque loop) the fastest largest

bandwidth
The outer most loop (position loop) the slowest

smallest bandwidth
Design starts from torque loop proceed towards outer

loops

OBJECTIVES:
Fast response large bandwidth
Minimum overshoot
good phase margin (>65o)
BODE PLOTS
Zero steady state error very large DC gain
METHOD
Obtain linear small signal model
Design controllers based on linear small signal model
Perform large signal simulation for controllers verification

Ra = 2 W
La = 5.2 mH
B = 1 x104 kg.m2/sec
J = 152 x 106 kg.m2
ke = 0.1 V/(rad/s)
kt = 0.1
Nm/A
Vd = 60 V
Vtri = 5 V
fs = 33
kHz
PI controllers
Switching signals from comparison of

vc and triangular waveform

Torque controller design
Open-loop gain
Bode Diagram
From: Input Point To: Output Point
150
kpT= 90
Magnitude (dB)
100
compensated
kiT= 18000
50
-50
90
Phase (deg)
45
compensated
-45
-90
-2
10
-1
10
10
10
10
Frequency (rad/sec)
10
10
10

Speed controller design
T*
Speed
controller
Torque loop
1
B sJ

Speed controller design
Open-loop gain
Bode Diagram
From: Input Point To: Output Point
150
kps= 0.2
Magnitude (dB)
100
kis= 0.14
50
compensated
-50
0
Phase (deg)
-45
-90
-135
compensated
-180
-2
10
-1
10
10
10
Frequency (Hz)
10
10
10

Large Signal Simulation results

40
20
Speed
0
-20
-40
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
2
1
0
-1
-2
Torque

Modeling of the Power Converters: IM drives
INDUCTION MOTOR DRIVES
Scalar Control
Const. V/Hz
Vector Control
is=f(r)
FOC
Rotor Flux
Stator Flux
DTC
Circular
Flux
Hexagon
Flux
DTC
SVM

Control of induction machine based on steady-state model (per phase SS

equivalent circuit):
Rs
Is
Llr
Lls
+
Vs
Lm
+
Eag
Im
Ir
Rr/s

Te
Pull out
Torque
(Tmax)
Te
TL
Trated
Intersection point
(Te=TL) determines the
steady state speed
sm
rated
rotors

Given a load T characteristic, the steady-state speed can be
changed by altering the T of the motor:
Pole changing
Synchronous speed change with no.
of poles
Discrete step change in speed
Variable voltage (amplitude), variable

frequency (Constant V/Hz)
Using power electronics converter
Operated at low slip frequency
Variable voltage (amplitude), frequency

fixed
E.g. using transformer or triac
Slip becomes high as voltage reduced
low efficiency

Variable voltage, fixed frequency
e.g. 3phase squirrel cage IM
600
Torque
V = 460 V
Rs= 0.25 W
500
Rr=0.2 W Lr = Ls =
0.5/(2*pi*50)
400
Lm=30/(2*pi*50)
f = 50Hz
300
Lower speed slip

higher
Low efficiency at low
speed
200
100
p=4
20
40
60
80
w (rad/s)
100
120
140
160

Constant V/Hz
To maintain V/Hz constant

Approximates constant air-gap flux when Eag is large
+
V
+
Eag
ag = constant
Eag = k f ag
E ag
f
V
f
Speed is adjusted by varying f - maintaining V/f constant to avoid flux

saturation

Constant V/Hz
900
800
50Hz
700
30Hz
Torque
600
500
10Hz
400
300
200
100
0
20
40
60
80
100
120
140
160

Constant V/Hz
Vs
Vrated
frated

Constant V/Hz
Rectifier
3-phase
supply
VSI
IM
f
Ramp
s*
Pulse
Width
Modulator

Constant V/Hz
In1 Out 1
Subsystem
isd
Va
Out1
isq
ird
speed
0.41147
Step
Slider
Gain 1
In 1
Rate Limiter
Out2
Vb
Vd
Scope
irq
Out3
Constant V /Hz
Vq
Vc
Te
speed
Induction Machine
To Workspace 1
torque
To Workspace
Simulink blocks for Constant V/Hz Control

Constant V/Hz
200
100
Speed
0
-100
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
400
200
Torque
0
-200
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
200
100
Stator phase current
0
-100
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9

Problems with open-loop constant V/f
At low speed, voltage drop across stator impedance is significant

compared to airgap voltage - poor torque capability at low speed
Solution:
1. Boost voltage at low speed
2. Maintain Im constant constant ag

700
600
50Hz
A low speed, flux falls below the

rated value
Torque
500
400
30Hz
300
10Hz
200
100
20
40
60
80
100
120
140
160

With compensation (Is,ratedRs)
700
Torque deteriorate at low

frequency hence
compensation commonly
performed at low frequency
600
Torque
500
In order to truly compensate

need to measure stator
current seldom performed
400
300
200
100
20
40
60
80
100
120
140
160

With voltage boost at low frequency
Vrated
Linear offset
Boost
Non-linear offset varies with Is

frated

Problems with open-loop constant V/f
Poor speed regulation

Solution:
1. Compesate slip
2. Closed-loop control

Rectifier
3-phase
supply
VSI
IM
f
Ramp
s*
+
+
Slip speed
calculator
Vdc
Idc
V
+
Vboost
Pulse
Width
Modulator

A better solution : maintain ag constant. How?
ag, constant Eag/f , constant Im, constant (rated)
Rs
Is
Controlled to maintain Im at rated

Lls
Llr
Ir
+
Vs
Lm
maintain at rated
Im
Eag
Rr/s

Constant air-gap flux
900
800
50Hz
700
30Hz
Torque
600
500
10Hz
400
300
200
100
0
20
40
60
80
100
120
140
160

Im
Im
Im
j L lr
Rr
s
Is
R
j (L lr L m ) r
s
j L r
Rr
s

R
j r L r r
s
1 r
jslip Tr 1

jslip r Tr 1
1 r
Is
Is ,

jslip r Tr 1
1 r
Is
Im ,
jslip Tr 1
Current is controlled using currentcontrolled VSI
Dependent on rotor parameters
sensitive to parameter variation

3-phase
supply
VSI
Rectifier
IM
Current
controller
PI
slip
+
r
+
|Is|
THANK YOU

Power Electronics 2 Eletrical Drives

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POWER ELECTRONICS

Power Electronic Converters in Electrical Drives

Power Electronic Systems

Power Electronic Systems

Ploss = vsw isw = 0

Power Electronic Systems

Power Electronic Systems

Power Electronic Systems

Power Electronic Systems

Power Electronic Systems

Faster and cheaper to implement

Advancement in semiconductor fabrication

A field-programmable gate array (FPGA) is an integrated circuit designed to be configured

A field-programmable gate array (FPGA)

A field-programmable gate array (FPGA)

Power Electronic Systems

Domestic and Commercial Applications

Hundreds of MW in DC transmission system (HVDC)

Modern Electrical Drive Systems

About 50% of electrical energy used for drives

Can be either used for fixed speed or variable speed

75% - constant speed, 25% variable speed (expanding)

Variable speed drives typically used PEC to supply the motors

IM: Induction Motor

Permanent Magnet Synchronous Motor

Permanent Magnet Synchronous Motor

Switched Reluctance (SR) Motor

Future Electric Motors Build will be SR Motors

Future electric motors build will be SR Motors.

BLDC: Brushless DC Motor

Modern Electrical Drive Systems

Modern Electrical Drive Systems

Power Electronic Converters

Modern Electrical Drive Systems

Modern Electrical Drive Systems

Modern Electrical Drive Systems

Modern Electrical Drive Systems

Improvements in energy utilization in electric motors give large impact

Modern Electrical Drive Systems

Less maintenance, light, less expensive, high speed

Modern Electrical Drive Systems

High performance applications dominated by DC motors tractions,

Modern Electrical Drive Systems

Modern Electrical Drive Systems

Extracted from Boldea & Nasar

Power Electronic Converters in Electrical Drive Systems

Power Electronic Converters in ED Systems

Configurations of Power Electronic Converters depend on:

Power Electronic Converters in ED Systems

Power Electronic Converters in ED Systems

Power Electronic Converters in ED Systems

Power Electronic Converters in ED Systems

- Operation in quadrant 1 and 4 only

Power Electronic Converters in ED Systems

Power Electronic Converters in ED Systems

Power Electronic Converters in ED Systems

Power Electronic Converters in ED Systems

Switch Mode DC-DC

Power Electronic Converters in ED Systems

Power Electronic Converters in ED Systems

DC-DC: Two-quadrant Converter

Power Electronic Converters in ED Systems