Advanced Electrical Drives-Analysis, Modeling, Control

【实例简介】
Electrical drives convert in a controlled manner, electrical energy into mechanical energy. Electrical drives comprise an electrical machine, i.e. an electro-mechanical energy converter, a power electronic converter, i.e. an electrical-to-electrical converter, and a controller/communication unit. To
Foreword The value of a textbook is largely determined by how well its structure sup- ports the reader in mastering the depth and breadth of the intended subject This textbook provides a structure that can achieve that goal for engineers seeking to master key technologies for a wide range of advanced electrical drives To achieve that goal it wisely places very significant, but common b ground material in the early chapters, where it introduces the core topologies of power converters and the key issues needed to understand and apply prac- tical power electronic converters. It also lays a sound foundation for under standing the two fundamental approaches for current regulators: hysteresis control and model-based control. By providing a sound and detailed back ground on power converters and current regulators, the rest of the text able to focus on the advanced electrical drive concepts that are unique to the major classes of machines: DC, AC synchronous machines, AC induction machines. and switched reluctance machines Common structures are used to great advantage. To develop a common basis for modeling and control, the machines that are predominately lorentz force machines, i.e. the DC, AC synchronous, and AC induction(asyn chronous) machines are all modeled using an ideal rotating transformer. By first applying it to the dC machine, the link to AC machines is very clear. Common modules are used to provide uniformity in the discussion between the various machine types and to be directly compatible with a simulation modeling environment. a similar structure is extensively used for the controls modules that follow the machine modules The texts separation of machine modeling from drive control is very help ful. Machine modeling lays a foundation such the controls can logically se- quence from classical to advanced drive methodologies. The inclusion of both surface and interior permanent magnet synchronous machines is particularly relevant since those machines are beginning to dominate many applications The significant treatment of field weakening operation is also critical. The in clusion of limits such as maximum current, maximum flux, maximum torque V11 VIll Foreword per flux, and maximum torque per ampere make the range of operation of the machine drives very transparent. The universal field-oriented control struc ture is aptly used to unify the subsequent presentation of indirect and direct field orientation control methods A very clear transition is made from predominately Lorentz force-based machines to purely reluctance torque-based machines. The detailed modeling and evaluation of switched reluctance machines allows drives engineers to cor- rectly model the inherently pulsating torque that each phase provides. The treatment of saturation and its affect on power conversion leads nicely into evaluation of drives with these properties. By including a rigorous discussion of classical hysteresis current control and multi-phase direct instantaneous torque control, the reader can appreciate the structure needed for high per- formance control of torque in switched reluctance drives Throughout the text, extensive tutorials tie modules that codify key con cepts in the theory, to their implementation in a simulation environment This makes it possible for the reader to quickly explore details and develop confidence in their mastery of maior concepts for advanced electrical drives By following the approach of this book, I believe that advanced drive engineers will be able to develop depth and breadth that is not normally easy to achieve Madison, Wisconsin. U.s.A Robert d. lorenz Preface Mastering the synergy of electromagnetics, control, power electronics and me- chanical concepts remains an intellectual challenge. Nevertheless, this barrier must be overcome by engineers and senior students who have a need or de- sire to comprehend the theoretical and practical aspects of modern electrical drives. In this context, the term drive represents a plethora of motion control systems as present in industry This book Advanced Electrical Drives builds on basic concepts outlined in the book Fundamentals of Electrical Drives by the same authors. Hence, it is prudent for the uninitiated reader to consider this material prior to tackling the more advanced material presented in this text. Others well versed in the basic concepts of electrical drives should be able to readily assimilate the material presented as every effort has been made to ensure that the material presented can be mastered without the need to continually switch between the books In our previous work, the unique concept of an ideal rotating transformer (IRTF), as developed by the authors, was introduced to facilitate the basic understanding of torque production in electrical machines. The application of the irtf module to modern electrical machines as introduced in fun damentals of Electrical Drives is fully explored in this volume and as such allows the user to examine a range of unique dynamic and steady-state ma- chine models which covers brushed DC, non-salient/ salient synchronous and induction machines In addition, this volume explains the universal field oriented(UFO) con cept which demonstrates the concepts of modern vector control and exem- plifies the seamless transition between So-called stator flu.c and rotor fluc oriented control techniques. This powerful tool is used for the development of Aux oriented machine models of rotating field machines. These models form the basis of uFO vector control techniques which are covered exten sively together with traditional drive concepts. In the last sections of this book, attention is given to the dynamic modeling of switched reluctance (Sr) P reface drives, where a comprehensive set of modeling tools and control techniques are presented which are complemented by a set of build and play modules As with the previous book, the interactive learning process using build and play modules is continued. Again the simulation tool CASPoC is used which contains a tailored set of modules which bring to life the circuit and generic models introduced in the text. This approach provides the reader with the opportunity to interactively explore and fully comprehend and visualize the concepts presented in this text. For this purpose, realtime modules which allow the reader to view the simulations without further software licensing needsareprovidedontheSpringerwebsite(http://extras.springer.com) The text Advanced Electrical Drives should appeal to the readers in indus try and universities who have a desire or need to understand the intricacies of modern electrical drives without loosing sight of the fundamental principles The book brings together the concepts of irtF and uFO which allows a com prehensive and insightful analysis of Ac electrical drives in terms of modeling and control. Particular attention is also given to switched reluctance drives modeling methods and modern control techniques. Extensive use is made of build and play modules in this book which for the first time provides the user with the ability to interactively examine and understand the topics present Aachen, Germany Rik De doncker Aachen, Germany Duco w.. Palle Culemborg, netherlands andre veltman Acknowledgements That this work has come to fruition stems from a deep belief that the material presented in this book will be of profound value to the educational institutions and the engineering community as a whole. In particular, the fast but accurate simulations that accompany the tutorials provide a new way of learning that is highly interactive, so that they may stimulate creativity of students and experts alike by virtue of virtual experiments. The content of this book reflects on the collective academic and indus trial experience of the authors and co-workers. In this context, the inputs of students and research associates cannot be overestimated. The authors wish to acknowledge the staff at the Institute for Power Electronics and Electrical Drives(ISEA)of RWTH Aachen University. In particular, the au thors would like to thank (in alphabetical order) Matthias Bosing, Chris- tian Carstensen, Martin Hennen, Knut Kasper, Markus Kunter, Christoph Neuhaus, and daniel van Treek for their contribution over the last three years We would also like to thank paul van der hulst of piak Electronic Design b.v. Culemborg, Netherlands, for supporting the final editing work and providing many good suggestions. Furthermore, the simulation tools that support the tutorials would not have been possible without the generous support of Peter van Duijsen of Simulation-Research, Alphen aan den Rijn, Netherlands, to support and make available to the readers of this book all CasPoc simu lations. The experimental setup used to validate and demonstrate the algo- rithms was supported by Aix Control GmbH, Aachen, Germany. The authors are grateful to the American University of Sharjah, United Arab Emirates for supporting a working visit to RWTH Aachen University Contents Modern electrical drives: An overview 1 1.2 Drive Technology Trends 1.2.1 Electrical machines 1.2.2 Power Converters 1.2.3 Embedded Control and Communication Links 8 1.3 Drive Design Methodology 1. 4 Experimental setup 13 2 Modulation Techniques for Power Electronic Converters. 17 2.1 Introduction 17 2.2 Single-Phase half-Bridge Converter 2.3 Single-Phase Full-Bridge Converter 2.4 Three-Phase Converter 8 2.4. 1 Space Vector Modulation 2.5 Dead-Time effects 38 2.6① tutorials 41 2.6.1 Tutorial 1: Half-Bridge converter with Pulse width Modulation 2.6.2 Tutorial 2: Half-Bridge Converter with PWM and Dead-Time effects 2.6.3 Tutorial 3: Full-Bridge Converter with Pulse width Modulation 2.6.4 Tutorial 4: Three-Phase pulse width modulator with Pulse centering 47 2.6.5 Tutorial 5: Three-Phase Converter with Pulse width Modulator 2.6.6 Tutorial 6: Three-Phase Simplified Converter without PWM 51 XIV Contents 3 Current Control of generalized load 3.1 Current Control of Single-Phase Load 3.1.1 Hysteresis Current Control 55 3.1.2 Model based current control 58 3.1.3 Augmented Model Based Current Control 3.2 Current Control of a Three-Phase load 3.2.1 Three-Phase Hysteresis Current Control 3.2.2 Model Based Three-Phase Current Control 3.2.3 Augmented Three-Phase model based Current Control 80 3.2.4 Frequency Spectrum of Hysteresis and Model Based Current controllers 3.3 Tutorials 3.3.1 Tutorial 1: Single-Phase Hysteresis Current Control 3.3.2 Tutorial 2: Single-Phase Model Based Current Control 84 3.3.3 Tutorial 3: Three-Phase Box Method Type Hysteresis Current Control 3.3.4 Tutorial 4: Three-Phase Model Based Current Control 89 3.3.5 Tutorial 5: Three-Phase Model Based Current Control without PWM, Using Simplified Approach 92 4 Drive Principles 95 4.1 ITF and IRTF Concepts 95 4.2 Electromagnetic Torque Control Principles 100 4.2.1 DC Machine ..101 4.2.2 Synchronous Machine 103 4.2.3 Induction machine 106 4.3 Drive Dynamics 108 4.3. 1 Linear and rotational motion 109 4.3.2 Rotational to Translational Transmission 111 4.3.3 Gear Transmission 113 4.3.4 Dynamic Model of a Drive Train 115 4.4 Shaft Speed Control Loop Design Principles 4.5 Tutorials 122 4.5.1 Tutorial 1: Elementary Synchronous Drive 122 4.5.2 Tutorial 2: Elementary Asynchronous(Induction) Drive 123 4.5.3 Tutorial 3: Elementary DC drive 125 4.5. 4 Tutorial 4: Drive Dynamics Example 126 4.5.5 Tutorial 5: Speed Control Loop Design Example 127 5 Modeling and Control of DC Machines 131 5.1 Separately Excited, Current-Controlled DC machine 132 5.1.1 Symbolic Model of the DC machine 133 5.1.2 Generic Model DC Machine 135 5.2 Field-Oriented Machine Model 135 Contents 5.3 Control of Separately Excited DC Machines 138 5.3.1 Controller Concept 138 5.3.2 Operational Drive Boundaries 139 5.3.3 Use of current source irtf based model 146 5.3.4 Use of a Voltage Source with a Model Based Current Control ..147 5.4 Tutorials 150 5.4.1 Tutorial 1: Current Source model of a Brushed Dc Machine with Segmented Commutation Module 150 5.4.2 Tutorial 2: Modeling of a Current and Voltage Source Connected brushed dc motor 152 5.4.3 Tutorial 3: Current Source Connected Brushed DC Motor with Field Weakening Controller 154 5.4.4 Tutorial 4: DC Drive Operating under Model Based Current Control and a Field Weakening Controller.. 157 5.4.5 Tutorial 5: DC Drive with Model based current Control and Shaft Speed Control Loop ...,.159 5.4.6 Tutorial 6: Experimental Results of DC machine 161 Synchronous Machine Modeling Concepts 165 6. 1 Non-salient machine .....165 6.1.1 Symbolic Model of a Non-salient Machine 166 6.1.2 Generic Model ..167 6.1.3 Rotor-Oriented Model: Non-salient Synchronous Machine 169 6.1.4 Steady-State Analysis 171 6.2 Salient Synchronous Machine 175 6.2.1 Generic Model .....,,,177 6.2.2 Rotor-Oriented Model of the Salient Synchronous Machine 178 6.2.3 Steady-State Analysis 180 6.3 Tutorials 6.3.1 Tutorial 1: Dynamic Model of a Non-salient 184 ynchronous Machine 184 6.3.2 Tutorial 2 Steady-State Analysis of a Non-salient Synchronous Machine 186 6.3.3 Tutorial 3: Stator Flux Linkage Excited Dynamic Model of a Synchronous Machine to Demonstrate the Rotor Flux Oriented Concept 187 6.3.4 Tutorial 4: Dynamic Model of a Synchronous Machine ith Adjustable salie 189 6.3.5 Tutorial 5: Steady-State Analysis of a salient Synchronous machine .....191 【实例截图】
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