# power electronics devices

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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