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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

  • 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: nikola.milivojevic@colorado.edu

    Dr. Yusuf Gurkaynak,

    e-mail: yusuf.gurkaynak@colorado.edu

    Teaching Assistant: Joshua Traube,

    e-mail: joshua.traube@colorado.edu

    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

    Faradays 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=krpm

    Fans

    Centrifugal pumps

    Propellers

    rpm

    Hoist systems

    Water pumping

    Constant pressure gas

    Po

    we

    r Power=krpm

    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,

  • 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

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