Download - POWER ELECTRONICS DEVICES
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
ECEN 5737: Adjustable Speed Drives
Dr. Nikola Milivojevic
Dr. Yusuf Gurkaynak
Joshua Traube
Spring 2013
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Course info:
• Monday/Wednesday 11:00-12:15, CAETE studio room, ECCS 1B12
• Instructors: Dr. Nikola Milivojevic ,
e-mail: [email protected]
Dr. Yusuf Gurkaynak,
e-mail: [email protected]
• Teaching Assistant: Joshua Traube,
e-mail: [email protected]
• Email questions will be answered in 1-3 days. Please use 5017
in the subject line
• web page: http://ecee.colorado.edu/~ecen5737/
• blog: ecen5737.blogspot.com
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Course info:
• Visiting hours: Monday 9.30-10.30AM
• Recommended textbooks:
– “Electric Motor Drives: Modeling, Analysis, and Control”, R. Krishnan;
– “Advanced Electric Drives: Analysis, Control and Modeling Using Simulink”,
Ned Mohan;
– “Electric Machinery”, A. E. Fitzgerald, C. Kingsley, S. D. Umans
• Exams/grading:
– Assignments: 40%
– Midterm exam: 30% (take home on March 15th, turn in March 22nd )
– Final exam: 30% (in class, 2.5hrs) May 8th
• Matlab/Plex required
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Course Outline
• Introduction: Adjustable speed drives system
• 3 phase RLC circuits, Active-Reactive Power, RMS, Phasor diagrams, Apparent power
• Faraday’s and Lorentz Law, basics of magnetics circuitry – EMF built
• Basics of magnetic circuitry – transformer,
• Basics of DC Machines: design; construction; types of DC
• Modeling and Control of DC machines (outer- speed and inner current/torque loop)
• T-w curve, 4Q diagram, operating envelope, DC machines’ application
• Rotating magnetic field, difference from DC machines, wounded rotor, per phase equivalent
• Squirrel cage induction, A, B, C, D types , T-w diagram
• Control of Induction Machines: V/f ; Space Vector Modulation techniques
• d/q transformations and modeling - Field Oriented Control of Induction machines
• Introduction on synchronous machines: modeling, design and construction: sine vs. trap drives
• Control of PM machines – hall effect, BLDC
• FOC (vector control) of PM machines
• 4Q drives of PM
• Hybrid Electric Vehicle topologies
• Basics of Switch Reluctance Machines; modeling; control and applications
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Introduction
Course objective:
– Understand various types of electric machines
– Control of Electric machines control
– Modeling and simulation
– System integration
– Electric drives applications
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Adjustable Speed drive system
Mechanical
Load
Power
Converter
Power
source
Controller
Electrical
Machine
•Battery
•Grid (through rectifier)
•uController
•FPGA
•Pump
•Fan
•Traction
•Lift…
•Position
•Speed
•Torque
•DC machine
• AC machine
•AC/DC
•DC/DC
•DC/AC
• AC/AC
Electro-mechanical system – Adjustable Speed drive
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Power source
• Rectified grid (AC) line:
• 300-400Vdc
• Battery bank:
• 12-300Vdc
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Mechanical Load
• Proper match between el. machine and load
rpm
Po
we
r
Power=k·rpm³
•Fans
•Centrifugal pumps
•Propellers
rpm
•Hoist systems
•Water pumping
•Constant pressure gas
Po
we
r Power=k·rpm
•Drilling machines
•Milling machines
•Traction drives!
rpm
Po
we
r Power=const.
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Selecting the drive system
• Thermal considerations of the drive
• Match between el. machine and power converter:
– Voltage
– Current
– Switching frequency – inductance
• Selecting position/speed/torque sensors
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
El. Machines’ classification
Electric Machines
Surface mount Interior mount
DC Machines AC Machines
Wound Field Permanent Magnet Synchronous Asynchronous
(Induction)
Series Shunt Separately
excited 1 ph 3 ph Poly-ph
BLDC Step PMSM
(Sinewave) Switch reluctance
Wound rotor Squirrel cage
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Single speed of electrical machines
• One speed of operation
• Either ON or OFF
• One voltage value input
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Use of semiconductor switches
• Provide variable voltage input
• PWM technique using semiconductor switches
• High frequency switching (tens kHz) results in “smooth” el.
machine control – low-pass filter
• Different technologies used for diff. powers:
– Power MOSFETs – up to 5-7kW, 50+kHz
– - IGBTs – up to hundreds of kW, 20kHz
- THYRISTORs - up to 1MW, <1kHz
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Adjustable speed drive system
Q1 Q3 Q5
Q2 Q4 Q6
Vdc
Electric Machine
drivers
uController Position/speed
Currents/voltages
Supply voltage
temperature
Encoder Resolver Hall-effect
Battery Capacitors DC rail
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Sensors
• Current sensor:
– Unidirectional
• 0-50A -> 0-3.3Vdc
– Bidirectional
• -50-50A -> 0-3.3Vdc
Photo: Courtesy of LEM
Photo: Courtesy of LEM
• Voltage sensor:
- Isolated
- Voltage divider
3.3V
1.65V
+10A -10A
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Position feedback - encoder:
– Incremental -
Signals: A, B, Index, Vcc, GND
- Absolute – 8, 10, 12, 16 bit and Vcc, GND
0 511 256 511 256
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Completed ASD system