1 advanced course of power electronics for masters: syllabus
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Advanced course of Power Electronics for Masters: Syllabus
https://moodle.e-ope.ee/course/view.php?id=2238 (guest entrance) and http://learnelectronics.narod.ru/ (free entrance)
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Timetable
Advanced course of Power Electronics for Masters: Syllabus
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Topics1. Power system engineering
• Objective of electronic system design• Electrical motors as the objects of electronic control• Motor supplies: rectifiers, inverters, ac/ac and dc/dc converters• Power electronic components
2. Gating of power switches• Phase modulation• Block modulation• PWM – pulse-width modulation• SVM – space vector modulation
3. Motor drive control engineering• Transfer functions and block diagrams• Signal converters and controllers• Controller design and drive tuning
Advanced course of Power Electronics for Masters: Syllabus
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Manuals
Advanced course of Power Electronics for Masters: Syllabus
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Laboratory1. Commissioning the power converter 2. Taking power converter characteristics 3. Computer examination of power converter
Advanced course of Power Electronics for Masters: Syllabus
ABB ACS 800
SAGEDUSMUUNDUR ACS800
Pealüliti Start StoppPöörlemis-
suund - Kiirus +
AvariiKaitseTöötabPingestatud Rike
L1
L2
L3
N
U
V
W
UDC+ UDC-PE PE N
PC(Drive windows)
ABB ACS 800
SAGEDUSMUUNDUR ACS800
Pealüliti Start StoppPöörlemis-
suund - Kiirus +
AvariiKaitseTöötabPingestatud Rike
L1
L2
L3
N
U
V
W
UDC+ UDC-PE PE N
Working machine Load machine
Speed sensor(enkooder)
Clutch
Working machineconverter
Load machineconverter
Supply Supply
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Practical design
Advanced course of Power Electronics for Masters: Syllabus
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Practical design: Part 1- Power system engineering • Request for proposal with the individual input data• Timing calculation and the mechanism travel diagram• Mechanism forces calculation and torque/power patterns• Optimum motor-gear set selection and checking
Advanced course of Power Electronics for Masters: Syllabus
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Practical design: Part 2 –Gating of power switches
• Power electronic converter dimensioning and selection or design
• Data and simulation results with transients of an open-ended system
• Appendix 1: operation diagram of the thyristor phase modulation, the transistor 2-phase block modulation, or 3-phase pulse-width modulation
• Appendix 2: wiring diagram with power circuit and the drive specification
L
VS1
VS2
VS3
VS4
VS5
VS6
L1
U2U1
L2
L3
M
Advanced course of Power Electronics for Masters: Syllabus
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Practical design: Part 3 - Drive control engineering
• Block diagram of the control system• Controller development and tuning • Data and simulation results with transients of a close-loop system;• Conclusion of the project summary
Advanced course of Power Electronics for Masters: Syllabus
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Lesson 1.
1.1. Request for proposal with the individual input data (Manual 6-9, Textbook 55-60)
1.2. Development of the design algorithm (Manual 9-11) 1.3. Timing calculation and building the mechanism
travel diagram (Manual 11-12)
Advanced course of Power Electronics for Masters: Power System Engineering
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1.1. Design objective in the request for proposal (Textbook 55-60, 76-78, 85-86)
1. Drive specifications2. Classification by applications 3. Thermal considerations 4. Electrical requirements 5. Constructional requirements 6. Accidental protection7. Electromagnetic compatibility
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
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1.1. Design objective 1: Drive specifications
• type of application• performance conditions and duty• supply conditions and harmonics • motor type • power and torque ratings • supply voltage, current, and frequency • speed range, minimum, and maximum values • accuracy and time response• efficiency and power factor• service life expectancy • standards, rules, and regulations
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
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1.1. Design objective 2: Classification by applications
Feature Appliances General-purpose drives System drives Servo drives
ApplicationsHome
appliances,Fans, pumps,
compressors, mixers
Test benches, cranes, elevators,
hoists
Robots, lathes, machine tools
Performance Middle Low High Very high
Power rating Low Whole range Low and middle
Motor Mainly induction motors Mainly servomotors
ConverterSimple, low
costOpen-loop ac and dc Expensive, high quality
Typical feature
Home, mass production
Process, cost sensitive, low performance
High accuracy and high dynamic, high precision and linearity
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
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1.1. Design objective 3: Thermal considerations
Type Duty
S1 Continuous running
S2 Short-term
S3 Intermittent periodic
S4 Intermittent periodic with a high startup torque
S5 Intermittent periodic with a high startup torque and electric braking
S6 Continuous-operation periodic
S7 Continuous-operation periodic with a high startup torque and electric braking
S8 Continuous-operation periodic with related load-speed changes
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
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1.1. Design objective 4: Electrical requirements
Usup UloadM
Line chokes Input filter Overvoltage Power electronic Output filteror transformer protection converter
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
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1.1. Design objective 5: Constructional requirements
IP X – protection against accidental contact
Y – protection against penetration of water
0 No protection No protection
1Large surface and solid objects exceeding 50 mm in diameter
Dripping water (vertical falling drops)
2Fingers and solid objects exceeding 12 mm in diameter
Water drops falling up to 15˚ from the vertical
3 Tools and solid objects exceeding 1 mm in diameter
Spray water up to 60˚ from the vertical (rain)
4 Deck water (splash water from all directions)
5Any object and harmful dust deposits, which can interfere with operation
Jet water from all directions
6Any contact and any kind of dust
Temporary flooding (deck of a ship)
7 Effects of brief immersion
8 Pressurized water
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
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1.1. Design objective 6: Accidental protection
Usup UloadM
Mains Circuit Chokes and Switches Switch fuses breaker filters blocking cabinet
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
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1.1. Design objective 7: EMI protection means
Effect FrequencyCounter-measure
At source At load
Mains Up to 100 Hz Avoid circulating currentsBalanced signal circuits. Avoid earth loops in signal paths
Mains harmonics
100 Hz…2,5 kHz
Line and/or dc link reactor on rectifiers. Higher pulse number rectifier. Avoid loops in signal paths. Low-impedance supply. Harmonic filters
Balanced signal circuits. Avoid loops in signal paths. Filtering
Intermediate 2,5 kHz…150 kHz FiltersFiltering. Screening. Balanced signal circuits
Low frequency
155 kHz…30 MHz Filters. Cable screening Filtering
High frequency
Higher than 30 MHz
Screening. Internal filtering Screening
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
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1.3. Timing calculation and the travel diagram development
1.2. Development of the design algorithm
Report on Lesson 1
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
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2.2. Building the torque or power patterns over the travel diagram (Manual 12-15)
2.1. Mechanical force calculation (Manual 12-15)
Report on Lesson 2
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 2
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Lesson 3. Motor-gear-converter kit selection (Manual 16-19)
3.1. Finding the load angular speed ω’ 3.2. Finding the maximum static counter-
torque M’ 3.3. Finding moment of inertia J’ 3.4. Optimum motor-gear-converter set
selection
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3.1. Electrical motors (Textbook 166-171)
S
N
Φ
B
ψI
θ
r
+
Iψ θsinς12 lrBFrM
Ψ2σ
Ψ2σ
θ
Ψ12
Ψ2
I12
I2 E2
sΨ1
I1R1
E1 I1
U1
Ψ1
θ
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
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3.2. Electrical motors: Induction motor (Textbook 171-187)
ω1 = ω2 + ω12
2
22
1
11 ψ
ω ,ψ
ωEE
p1
0
ωω
pp2121 ωω
ω ,θθ
φ
,
1
2
0
0
1
2
ω
ω
ω
ωω
f
fS
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
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3.3. Electrical motors: Synchronous motor (Textbook 188-192)
θ12
Mmax
θ
M
α
β
d
θ
ω1= ω12
I1
q
Ψ12
sΨ
1
I1R
1 E1U1
θ12α
β
d
θ
ω1= ω12
I1
q
Ψ12
sΨ
1
I1R1
E1
U1
ω*
–
Ue1 Ue2 Ue3
IL2*
IL3*
IL1*
M*
M
Current reference
unit
ω controller
Current-controlled converter
MBQ
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
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3.4. Electrical motors: DC motor (Textbook 192-197)
ω
Mβ
α
θ
I1
Ψ1
2
sΨ1 I1R
1E1
U1
M
MMMc
IRUk
ωΦψ1
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
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3.5. Power electronic converters (Textbook 13-54)
1. AC/DC converters - Rectifiers2. DC/AC converters - Inverters 3. AC/AC converters - Changers 4. DC/DC converters - Choppers
~
=
UsUd =
~
Ud
Us
~
~
Us su
p
Us load =
=
Ud
sup
Ud load
M M
MM
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
Circuittype
M1 2,22 1,57 3,10 0,29 3,14 1,00 1,57
M2 1,11 0,71 1,58 0,64 3,14 0,50 0,78
B2 1,11 1,00 1,11 0,90 1,57 0,50 0,78
M3 0,85 0,58 1,58 0,64 2,09 0,33 0,25
B6 0,42 0,82 1,05 0,95 1,05 0,33 0,06
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3.6. Power electronic converters: Rectifiers (Textbook 14-23)
d
sU U
Uk
d
sI I
Ik
d
sP P
Pk
s
d
P
Pφcos
d
RR U
Uk
d
FF I
Ik
d
rr U
Uk
2
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
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3.7. Power electronic converters: Inverters (Textbook 23-34)
VD3
VD1
VD4
VD2
–
+
U
s
VT3
VT1
VT4
VT2
Ud M
VD1 VD2 VD3
VD4 VD5 VD6
L2
L1
L3
VT1 VT2 VT3
VT4 VT5 VT6
Ud M
C
C
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
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3.8. Power electronic converters: AC/AC converters (Textbook 34-43)
VT7
R
VT4 VT5 VT6
VT1 VT2 VT3VD1 VD2
VD4 VD5 VD6
C
L
VD3 VD7
M
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
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3.9. Power electronic converters: DC/DC converters (Textbook 43-54)
Ud load
C
VT
+
–
VD
L
Ud sup M
Ud load
Id load
C
L
VD1
VT1
VT2
VD2
–
+
Ud sup
Ud load
M
Ud load
Id load
VD1 VD2
VD3 VD4
VT1 VT2+
VT3 VT4
Ud sup
Ud load
–
M
Ud load
Id load
Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
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Lesson 4. Motor-gear-converter kit examination (Getting started eDrive)
4.1. Building the static torque-speed diagram
4.2. Building the dynamic torque-speed or current-speed diagram
4.3. Examination calculation
Report on Lessons 3, 4
Advanced course of Power Electronics for Masters: Power System Engineering
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Lesson 5. Power electronic converter dimensioning or design
5.1. Power converter description (Textbook 61-91)
• Transformers and inductors • Diodes and thyristors • Transistors • Snubbers and clamps • Braking resistors• Filters
5.2. Building the modulation diagram (Textbook 121-141)
Advanced course of Power Electronics for Masters: Power System Engineering
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5.2. Phase modulation 1
θ1
θ1
α
θ1
θ1
θ1
θ 1
θ 1
θ 1
UL3’ UL1’ UL2’UL3UL2
UsUL1
IG1
IG6
IG2
IG4
IG3
IG5
u*
uc
Umax
Advanced course of Power Electronics for Masters: Gating of Power Switches
Lesson 5
34
5.2. Phase modulation 2
θ1
θ1
UL3UL2
Us sup, Us load
UL1
u*
UL3UL2UL1
uc
Advanced course of Power Electronics for Masters: Gating of Power Switches
Lesson 5
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5.2. Block modulation 1
a.
VD1, VD4VD2, VD3
toffton
Tc
Us
θ1
VT1, VT4
θ1VT2, VT3
θ1
Us1
VT4
θ1
VT1
θ1VT2
θ1VT3
θ1
θ1
θ1Us2
b.
θ1
Advanced course of Power Electronics for Masters: Gating of Power Switches
Lesson 5
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θ1
VT6
VT5
VT4VT3
VT2
VT1 θ1
θ1
θ1
θ1
θ1
θ1
2π π
θ1
UL1
UL2
θ1UL3
θ1
θ1
UL1L2
UL2L3
θ1UL3L1
5.2. Block modulation 2
Advanced course of Power Electronics for Masters: Gating of Power Switches
Lesson 5
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5.2.Block modulation 3
VT1
θ1
θ1
θ1
VD4
VT6
VT5
VT4
VT3
VT2θ1
1
θ1
θ1
θ1
UL3N
0,16Ud
Ud
2ππ
UN
0,5Ud θ1
UL1
UL2
θ1UL3
θ1
θ1UL2L3
θ1
UL3L1
UL1L2
θ1
θ10,67Ud
θ1
θ1
UL1N
UL2N
VD1
Advanced course of Power Electronics for Masters: Gating of Power Switches
Lesson 5
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5.2. PWM 1
Us
uc u*
θ1
toff
Uton
θ1
Tc
Us
θ1
U
θ1
Advanced course of Power Electronics for Masters: Gating of Power Switches
Lesson 5
39
Power Electronics for Masters : Gating of power switches
UL2L3
UL3L1
uc
UL3N
UL2N
UL1N
θ1UN
UL1L2
UL3
UL2
toff
u*
ton
θ1
θ1
UL1
T*
θ1
θ1
θ1
θ1
θ1
θ1
θ1
θ1
5.2. PWM 2
Lesson 5
40
Power Electronics for Masters : Gating of power switches
Lesson 5.2. SVM
0 π/3 2π/3 π 4π/3 5π/3 2π π/3 2π/3 π 4π/3 5π/3 2π π/3
UL1
UL3N
UL2N
UL1N
θ1UN
UL1L2
UL3
UL2
Tc
θ1
T*
θ1
θ1
θ1
θ1
θ1
θ1
Lesson 5
41
Lesson 6. Building of wiring diagram with power circuit and drive specification
(Textbook 198-235)
Report on Lesson 5
Report on Lesson 6
Advanced course of Power Electronics for Masters: Gating of Power Switches
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Lesson 7. Development and tuning a controller (Manual 20-29, Textbook 142-165)
7.1. Development of the block diagram (Manual 20-22) 7.2. Auto tuning and fine-tuning (Manual 22-27) 7.3. Simulation of the close-loop system (Getting
started eDrive)
Advanced course of Power Electronics for Masters: Motor Drive Control Engineering
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7.1. Transfer functions and block diagrams
b. c.a.
u* U E ω
M ω
U
E
I M ωMs
E I
d.
M I
e.
––
f.
Advanced course of Power Electronics for Masters: Motor Drive Control Engineering
Lesson 7
44
7.1. Signal converters
and controllers
R1
R2
C
UinUout
a.
R1
R2
C
Uin Uout
b.
R1
R2C
Uin Uout
c.
R1
R2
C1
Uin Uout
d.
C2
R1
R2C1
Uin Uout
e.
C2
Advanced course of Power Electronics for Masters: Motor Drive Control Engineering
Lesson 7
45
7.2. Controller design 1
a.
z* z
–
c.
Tμ
zky
t
1
2 4 6 8 10 12 14 16
3. a1=2,a2=4 (SO)
2. a1=2 (MO)
2. a1=4
1. a1=2(EO)
Advanced course of Power Electronics for Masters: Motor Drive Control Engineering
Lesson 7
46
7.2. Controller design 2
z’* z’
–
z*
–
z
Advanced course of Power Electronics for Masters: Motor Drive Control Engineering
Lesson 7
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Lesson 8. Report defense
Report on Lesson 7
Graded credit
Advanced course of Power Electronics for Masters: Motor Drive Control Engineering