Transcript
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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

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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

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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

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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

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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

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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

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ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.

Power source

• Rectified grid (AC) line:

• 300-400Vdc

• Battery bank:

• 12-300Vdc

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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.

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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

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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

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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

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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

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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

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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

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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

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ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.

Completed ASD system


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