switched doubly-fed machine drive for high power applications · switched doubly-fed machine drive...
TRANSCRIPT
Dr. Arijit Banerjee
Switched Doubly-Fed Machine Drive For High Power Applications
27th February, 2017
Department of Electrical and Computer Engineering
University of Illinois at Urbana-Champaign
88° East Latitude to 88° West Latitude
2
~ Mean Diameter of Earth
Barrackpore
Champaign
High-power motors are 1% of motor population but consume 45% of total motor energy
3
Power (horsepower)
0 %
100 %
< 20
50 %
[20, 200] > 200
International Energy Agency, 2011
Motor PopulationEnergy Consumption
(2.23 billion)(10000 TWh, 2012)
Wide range of applications for high power motors
4
Motion or
Process
High MW Converters, ABB, 2014
87% of high-power motors are directly connected to ac grid
5
Process
Control
Fixed Amplitude
&Frequency
Drawbacks:• 30% - 80% loss in control mechanism• Reactive power sink from Ac grid perspective
Variable speed drives are advantageous for process control
6
Control
The Office of EERE, DOE , 2015
Process
Control
Estimated annual benefits just in U.S. • Energy savings - $2.7B • Carbon emission reduction - 27 million tons
Anatomy of a variable speed drive
7
Filter Switch Filter Switch Filter
Fixed AC DC
VariableAC
State-of-the-art: High-power variable speed drive topologies
8Kouro et al., IEEE IAS, 2012
• Series/parallel switches
• Multi-level converters
• Thyristor based Cyclo-converters
Example: Nine megawatt commercial variable speed drive
9MV7000 Brochure
18 feet
Volume: ~ 318 cubic metersWeight: ~ 6 metric tons
3.3 feet
Example: Nine megawatt commercial variable speed drive
10MV7000 Brochure
Multiple Switches & Low Switching Frequency
Example: Nine megawatt commercial variable speed drive
11MV7000 Brochure
Bulky Filter
Example: Nine megawatt commercial variable speed drive
12MV7000 Brochure
Significant Cooling
Doctoral Thesis objective
13
Reduce the size of the variable speed drive
&
provide reactive power support to the grid
Thesis approach: Doubly-fed machines
14
Stator
Rotor
PS
PR
PM = PS + PR
MechanicalPM
Pena et al., IEE Proceedings, 1996
Switched-Doubly-fed-Machine drive architecture
15
PS
PR
LowSwitch
High
AC Grid
Load
DC Source
OrShort
Variable Speed Drive
Morel et al., IEE Proceedings, 1998Leeb et al., Naval Engineers Journal, 2010Banerjee et al., IEEE IAS, 2015
Switch is turned "Low" during low-speed, low-power mode
16
PM = PR
PR
Switch
DC Source
Or Short
PS = 0AC Grid
Variable Speed Drive
LowHigh
Rotor port provides all the mechanical power
17
PM = PR
Power(normalized)
Speed (normalized)
0
-0.5
0.5
1
1.5
0.5 1 1.50
Low Speed
PS = 0
Switch is turned "High" during high-speed, high-power mode
18
Switch
PM = PS ± PR
PS = Constant
PR
AC Grid
Variable Speed Drive
LowHigh
DC Source
Or Short
0 0.5 1 1.5-0.5
0
0.5
1
1.5
0
-0.5
0.5
1
1.5
0.5 1 1.50
Rotor port processes only the differential power
19
PS = Constant
PR
High Speed
PMPower
(normalized)
Speed (normalized)
Size of variable speed drive reduces by two-thirds
20
0
-0.5
0.5
1
1.5
0.5 1 1.50
PM
PS
Variable Speed Drive
Rating
Banerjee et al., IEEE Trans. Industry Applications, 2015
PR
Power(normalized)
Speed (normalized)
Challenges
21
• Drive design
Challenges
22
• Drive design • Switch realization
Challenges
23
• Drive design • Switch realization• Seamless control
Challenges
24
• Drive design • Switch realization• Seamless control
• Grid interaction
Challenges
25
• Drive design • Switch realization• Seamless control
• Grid interaction• Drive topology comparison
Challenges
26
• Drive design • Switch realization• Seamless control
• Grid interaction• Drive topology comparison• DFM design considerations
Contributions
27
• Drive design • Switch realization• Seamless control
• Grid interaction• Drive topology comparison• DFM design considerations
Drive Design: Minimize variable speed drive rating
28
Current rating
Dc voltage
TransitionspeedReactive power
capability
MaximumspeedVoltage rating
subject to:1. Machine operating within its rated condition2. Matches drive torque-speed requirement3. Available ac source
Choice of stator flux drives the entire VSD design space
29
Low High
Ro
tor
Vo
ltag
e (p
.u)
Rotor Speed (p.u)
∝ Stator Flux
Low-speed mode stator flux = High-speed mode stator flux
= relative speed X flux
VSD “current rating” is driven by high-speed mode torque
30
Low High
Ro
tor
Vo
ltag
e (p
.u)
Rotor Speed (p.u)
∝ Stator Flux
Rotor Speed (p.u)To
rqu
e (p
.u)
Low-speed mode stator flux = High-speed mode stator flux
Low High
VSD “voltage rating” is driven by low-speed mode torque
31
Ro
tor
Vo
ltag
e (p
.u)
Rotor Speed (p.u) Rotor Speed (p.u)To
rqu
e (p
.u)
Low High
Low
High
Low-speed mode stator flux = 0.75 X High-speed mode stator flux
Non-idealities in DFM lead to design challenges for remaining within constraints
32
Low High
Ideal DFM
Ro
tor
Vo
ltag
e (p
.u)
Rotor Speed (p.u)
Acceleration
Deceleration
Ro
tor
Vo
ltag
e (p
.u)
Rotor Speed (p.u)
Practical DFM
A. Banerjee, M. S. Tomovich, S. B. Leeb and J. L. Kirtley, "Power
Converter Sizing for a Switched Doubly Fed Machine Propulsion Drive,"
in IEEE Transactions on Industry Applications, vol. 51, no. 1, pp. 248-258,
Jan.-Feb. 2015.
Contributions
33
• Drive design • Switch realization• Seamless control
• Grid interaction• Drive topology comparison• DFM design considerations
Switch realization critical for smooth performance
34
S1 S2Switch A
B
C DC Source
Or Short
Variable Speed Drive
AC Grid
PM
All-Forced Commutation
C - Natural Commutation
B - Natural Commutation
C
A
BC
VAC
VDC A
B
AC
IS
Example: Dc-to-ac mode transition
35
DC AC
Initially :stator connected to dc source
Finally :stator connected to ac source
Goal :Natural commutation of all dc side SCRs simultaneously
Va
Vb
Vc
DFM MRotor
ConverterM
Vdc
Condition for natural commutation of A phase SCR
36
Va
Vb
Vc
DFM MRotor
ConverterM
Vdc
All-Forced Commutation
VAC
VDC
C - Natural Commutation
B - Natural Commutation
A
C
B
A
BC
AC
IS
A DC AC
Initially :stator connected to dc source
Finally :stator connected to ac source
Goal :Natural commutation of all dc side SCRs simultaneously
X
P
Condition for natural commutation of B phase SCR
37
Va
Vb
Vc
DFM MRotor
ConverterM
Vdc
All-Forced Commutation
VAC
VDC
C - Natural Commutation
B - Natural Commutation
A
C
B
A
BC
AC
IS
B
DC AC
Initially :stator connected to dc source
Finally :stator connected to ac source
Goal :Natural commutation of all dc side SCRs simultaneously
YQ
Condition for natural commutation of C phase SCR
38
Va
Vb
Vc
DFM MRotor
ConverterM
Vdc
All-Forced Commutation
VAC
VDC
C - Natural Commutation
B - Natural Commutation
A
C
B
A
BC
AC
IS
Initially :stator connected to dc source
Finally :stator connected to ac source
Goal :Natural commutation of all dc side SCRs simultaneously
C
DC AC
ZR
Natural commutation of ABC phase SCRs simultaneously
39
Va
Vb
Vc
DFM MRotor
ConverterM
Vdc
All-Forced Commutation
C - Natural Commutation
B - Natural Commutation
C
A
BC
All - Natural Commutation
VAC
VDC A
B
AC
IS
A
B
C
S1 and S2 should not be ON simultaneously S1 and S2 should not be OFF simultaneously All phases switch together Minimal “supporting” circuitry Minimal perturbation on shaft behavior
Transfer scheme: dc to ac
DC AC
Prototype SCR-based Transfer Switch
40
Ac Source Dc Source
DFM Stator SCR Gate Signal
Experimental Result: Dc to Ac Source Transition
41
Source voltage (V)
Dc
sid
e SC
R c
urr
ent
(A)
Ac
sid
e SC
R c
urr
ent
(A)
Time (ms) Time (ms)
Time (ms)
Alternative transfer switch topology
42
Banerjee et. al. "Solid-State Transfer Switch
Topologies for a Switched Doubly Fed Machine
Drive," in IEEE Transactions on Power
Electronics, Aug. 2016.
Banerjee et. al., "Bumpless Automatic Transfer
for a Switched-Doubly-Fed-Machine
Propulsion Drive," in IEEE Transactions on
Industry Applications, July-Aug. 2015.
Contributions
43
• Drive design • Switch realization• Seamless control
• Grid interaction• Drive topology comparison• DFM design considerations
Challenge: Seamless performance across entire speed range
44
0
-0.5
0.5
1
1.5
0.5 1 1.50
PM
PS
Mode Transition
Instant
Power(normalized)
Speed (normalized)
PR
Common framework for control and transition analysis
45
Doubly-fed
Machine
stator shaft
rotor
Ac Source
ShortOR
Dc Source
Control Port
Drive Torque/Speed
Shaft (1)Stator (2) Rotor (2)
State variables
SpeedD-axis currentQ-axis current
Stator flux - magnitude- angle
Transfer Switch
Stator flux transition model
46
2
cos1
sin0
ss so s m
ss
s rd
so sBso
s s
rV r x
xdx i
V rdt
so soV
0.1 0
1 1
, low speed mode (dc source)
, high speed mode (ac grid)
Disturbance
Initial condition
s
Pre-transition stator flux magnitudeInstant of transition (SCR switch)
ird
0 0 , low speed mode (shorted)
Phase plane captures machine dynamics in low speed mode
47
Magnitude
Angle
0.5
1.5
1
0 π/2π/4
Steadystate
Banerjee et al., IEEE Trans. Industry Applications, 2015-- , ITEC, 2015
(φX, φY)
(φX, φY)
Phase plane captures machine dynamics in high speed mode
48
Magnitude
Angle
0.5
1.5
1
0 π/2π/4
Steady state
(φX, φY)
(φX, φY)
Example: Low-to-high speed mode transition
49
Magnitude
Angle
0.5
1.5
1
0 π/2π/4
Target steady state
(φX, φY)
(φX, φY)
Initial condition
Switch timing is critical for smoother transition
50
0.5
1.5
1
0 π/2π/4
Switch Timing
Magnitude
Angle
(φX, φY)
(φX, φY)
Autonomous behavior during mode transition using the switch timing
51
0.5
1.5
1
0 π/2π/4
Magnitude
Angle
(φX, φY)
(φX, φY)
Torque bump
Maximum damping enables smooth transition from AC grid perspective
52
0.5
1.5
1
0 π/2π/4
Maximum Damping
Magnitude
Angle
(φX, φY)
(φX, φY)
Banerjee et al., APEC, 2016
Variable Speed Drive Limits
Rotor Current LimitStator
Current Limit
Mode Transition: Mapping of Operating Point on the State-plane
53
0 0.5 1 1.5 20.5
0.7
0.9
1.1
1.3
1.5
SS
Sho
rt
0 0.5 1 1.5 20.5
0.7
0.9
1.1
1.3
1.5
SS
0 0.5 1 1.5 20.5
0.7
0.9
1.1
1.3
1.5
SS
Dc
sou
rce
Low-speed operation High-speed operation
OR
Banerjee et. al., "Control Architecture for a
Switched Doubly Fed Machine Propulsion
Drive," in IEEE Transactions on Industry
Applications, March-April 2015.
Contributions
54
• Drive design • Switch realization• Seamless control
• Grid interaction• Drive topology comparison• DFM design considerations
Laboratory-scaled power system as experimental setup
55
Generators (AC Grid)
T
Switch
Variable Speed Drive Machine + Load
Designed and built entire power system as laboratory setup
TI C2000DFM (1.1 kW)PM Gen.
DC Electronic Load Bank
Drive End Inverter
(Variable voltage
variable frequency)
Three phase
SCR based
Transfer
Switch
Dc Source
CUI VGS-100-24
20 V
MGEN
PMSG
DFM
600 W Electronic
Load Bank
BK Precision 8512
(Controlled current
mode)
D4
C1
R2
S2
D3
Diode
Bridge
LC-Filter
Phase
sequence
change
over
relay
Front End Inverter
(Variable voltage
variable frequency) R1
S1
Generator 1
Generator 2
Prime
Mover
Prime
Mover
Ac grid: 146 V, 40 Hz
Generators (1.4 kW)
Grid-side Conv.
6 Machines5 Control platforms (TI, NI, Matlab RTW, PSoC)3 Data acquisition systems2 Converters + Filters
Experimental Results: Full Torque/Speed Range Operation
57
Experimental Results: Full Torque/Speed Range Operation
58
0 5 10 15-2000
0
2000
0 5 10 15-5
0
5
Reference
Actual
Rotor speed (rpm)
Time (s)
Drive torque (Nm)
Experimental Results: Full Torque/Speed Range Operation
59
0 5 10 15-2000
0
2000
0 5 10 15-5
0
5
Reference
Actual
Rotor speed (rpm)
Time (s)
Drive torque (Nm)
Experimental result: Seamless mechanical port
60
0 1 2 3 40
0.53
1
1.5
Time (s)
1
0
0.53
0 1 2 3 4
Low Speed
High Speed
1.5 ReferenceActual
Transition Speed
Speed(normalized)
Experimental result: Seamless mechanical port
61
0 1 2 3 40
0.53
1
1.5
1
0
1.5
0.53
0 1 2 3 4
0.75 0.95 1.15
3
4
Low SpeedTorque Limit
High Speed Torque Limit1
0.75
0.750.55 0.95
Low Speed
High Speed
Time (s)
Speed(normalized)
Torque(normalized)
Experimental Results: Full Torque/Speed Range Operation
62
DFM active power (W)
0 5 10 15-600
-400
-200
0
200
400
600
800
rotor
stator
Time (s)
0 5 10 15-600
-400
-200
0
200
400
600
800
Experimental Results: Full Torque/Speed Range Operation
63
DFM active power (W)
rotor
stator
Time (s)
0 0.53 1 1.5-350
0
350
700
1050
Experimental result: Seamless electrical ports
64
Stator
Variable Speed Drive
0 1.5
ActivePower
(normalized)
0
-0.5
1.5 Total Power
0.5
1
0.53 1
Low Speed High Speed
Speed (normalized)
Experimental Results: Full Torque/Speed Range Operation
65 Time (s)
0 5 10 1580
85
90
95
0 5 10 1539
40
41
42
Grid voltagemagnitude (V)
Grid frequency (Hz)
Experimental Results: Speed Reference Oscillation
0 1 2 3 4 5 6 7 8600
800
1000
0 1 2 3 4 5 6 7 895
100
105
0 1 2 3 4 5 6 7 880
85
90
0 1 2 3 4 5 6 7 839
40
41
2
1
Rotor speed(rpm)
Dc link voltage(V)
Grid voltage magnitude(V)
Grid frequency(Hz)
Time (s)38
ActualReferenceHigh speedmode
Low speedmode
Experimental Results: Load Torque Oscillation
0 1 2 3 4 5 6 7 8700
800
900
0 1 2 3 4 5 6 7 895
100
105
0 1 2 3 4 5 6 7 880
85
90
0 1 2 3 4 5 6 7 839
40
41
Time (sec)
1
2Rotor speed
(rpm)
Dc link voltage(V)
Grid voltage magnitude(V)
Grid frequency(Hz)
Time (s)39
Load torque ON Load torque OFF
High speedmode
Low speedmode
Conclusion
68
• Two-thirds size reduction• Grid-friendly• Better efficiency• Reduced cost• Better reliability
Switched Doubly fed machine drive
Publications
69
2013
Power converter sizing
Control architecture
12-SCR Based transfer switch
Fault tolerant capability
Comparison of topology
Grid-friendly operation
Conference Journal
2014
Jan ’15
Jul ’15
Mar ’15
2016 Sep ’168-SCR Based transfer switch
Acknowledgment
Mike Tomovich, S.M. Arthur Chang, Ph.D.North Surakit., S.B. Prof. Al Avestruz
Prof. J. Kirtley Prof. S. Leeb Prof. J. Lang
The Grainger Foundation
Dr. Manny Landsman (Fellowship)
Prof. D. Perreault
71
It’s about the journey not the destination
Thank you!
Back up
72
Experimental Results: Full Torque/Speed Range Operation
73
stator
rotor
Time (s)
0 5 10 1596
98
100
102
104
0 5 10 15-2
0
2
4
Dc link voltage (V)
Dc link current (A)
Experimental Results: Full Torque/Speed Range Operation
74 Time (s)
0 5 10 15
0
500
1000
1500
2000
Generator 2
Generator 1Generator Active power (Watt)
Total
Future Work
75
Energy HarvestingTransportation Industrial Drives
• DFM electromagnetic design optimization• Evaluation in a MW-scale application• Brushless operation
Contributions
76
• Design methodology of a switched-DFM drive based on a requireddrive torque capability
• Solid-state transfer switch architectures for on-the-fly reconfigurationof the DFM
• Control platform for a seamless operation of the drive at themechanical and electrical ports
• Enabling reactive power support to the grid without adding extrapower electronics
• Performance comparison of different switched-DFM drive topologyleading to machine design guidelines
Additional Publications
77
(To be submitted)
Single sided induction heating
Uniform heating + optimized winding
MIT Cheetah robotic actuator design
2014
IECON'2013
2012
Comparison of induction motor technology
78
0
2
4
6
8
10
Cage-rotor Doubly-fed
Weight (Metirc Tons) Volume (Cubic Meters)
Specification: 1250 HP, 4160 V, 900 rpm, Air-cooled
TECO Westinghouse JH12508 Induction Motor GE 8411S Slip-ring Induction Motor
Comparison: PMSG + full converter relative to DFM + partial converter for wind power generation
79
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Volume Weight Cost Losses
Specification: 3 MW, 90 rpm
Polinder et al., IEEE Transactions on Energy Conversion, Sept. 2006.
$4.5 B Worldwide Market in MV Motors
Market breakdown in 2012. Industry Sector by Revenues ($M) and Growth (%)
Agarwal et al., NIST/DOE Workshop NGEM, 2014
Research theme
81
Information World
PhysicalWorld
Energy Conversion Systems
Power Electronics
Electromagnetics
Control
Motors + Energy Storage
82
m
g
N
S
Rotor
S
N
Medium voltage motors market: $4.5 B Worldwide
0
6%
1200 $M
600 $M
10%
2%
Industrial sectors
Revenues Growth
Electromechanical Actuators 101
84
2 Degrees of Freedom 3 Degrees of Freedom 4 Degrees of Freedom
Torque production mechanism and control
85
Stator flux aided by the dc source controlled by the rotor d-axis current
Torque current controlled by the rotor q-axis current
Stator flux controlled by the rotor d-axis current
Torque current controlled by the rotor q-axis current
Low speed induction Low speed synchronous
Example 1 : 3.3 kV, 20 MW Induction Motor Drive (Propulsion application)
Volume: 28 Cubic MetersWeight: 11 Metric Tons
Water-Cooled
5
Source: ACS6000, MV7000 Medium Voltage Drive Brochure; Lewis et.al, Advanced Induction Motor
Volume: 35 Cubic MetersWeight: 89 Metric Tons
Air-Cooled AIM, 180 rpm
Example 2 : 3.7 kV, 20 MW Induction Motor Drive
Volume: 19 Cubic MetersWeight: 16 Metric Tons
Water-Cooled
5
Source: Hebner et.al, Design and analysis of a 20 MW Propulsion power train, 2004
Volume: 49 Cubic MetersWeight: 97 Metric Tons
Water-Cooled PM, 150 rpm
Ship efficiency improvement due to electrification
88
40
25
10 50 100Percentage Loading
Efficiency (Diesel
to Propeller)
Enabling technology drives what is possible with electromechanical energy systems
89
Power Semiconductor
Devices
Power Networks
Additive Manufacturing
(e.g. 3d printing)
Process linemanufacturing
Old Power Network
Seamless dynamic performance across entire speed range
90
0 2 4 6 80
650
1200
1800
2000
Time (s)
0.53
0
1
2 64
1.5Reference
Actual
Speed(normalized)
80
LowSpeed
HighSpeed
0 1 2 3 4 5 6 7 8700
800
900
0 1 2 3 4 5 6 7 895
100
105
0 1 2 3 4 5 6 7 880
85
90
0 1 2 3 4 5 6 7 839
40
41
Time (sec)
1
2
Severe Test: Mimics a ship in a turbulent weather
91
Propeller Out
Propeller In
Low Speed
High Speed 0.61
0.53
0.45
NormalizedSpeed
Time (s)0 2 4 6 8
0 1 2 3 4 5 6 7 8700
800
900
0 1 2 3 4 5 6 7 895
100
105
0 1 2 3 4 5 6 7 880
85
90
0 1 2 3 4 5 6 7 839
40
41
Time (sec)
1
2
Stable AC generator under severe mode swinging
92
0 1 2 3 4 5 6 7 8700
800
900
0 1 2 3 4 5 6 7 895
100
105
0 1 2 3 4 5 6 7 880
85
90
0 1 2 3 4 5 6 7 839
40
41
Time (sec)
1
2
0 1 2 3 4 5 6 7 8700
800
900
0 1 2 3 4 5 6 7 895
100
105
0 1 2 3 4 5 6 7 880
85
90
0 1 2 3 4 5 6 7 839
40
41
Time (sec)
1
2
Propeller Out Propeller In
Low Speed
High Speed
1.06
1
0.94
1.02
1
0.98
0.61
0.53
0.45
NormalizedSpeed
NormalizedAC
Generator Voltage
NormalizedAC
Generator Frequency
Time (s)0 2 4 6 8
Proposed power flow architecture: Prior Art
93
Time (s)
Normalized Speed
Morel, 1998
Actual
Mode Transition
0
1
Standard Variable Speed Drive
Power Electronic Devices
94
Experimental results: Stator flux transition
95
0.9 1 1.1 1.2 1.3 1.4 1.5 1.60.4
0.5
0.6
0.7
0.8
0.9
1
delta (rad)
Sta
tor
flu
x (
p.u
)
1 1.05 1.1 1.15 1.2 1.25 1.3 1.35 1.4 1.45 1.50.4
0.5
0.6
0.7
0.8
0.9
1
delta (rad)
Sta
tor
flu
x (
p.u
)
0 1 2 3 4 5 6 7 8700
800
900
0 1 2 3 4 5 6 7 895
100
105
0 1 2 3 4 5 6 7 880
85
90
0 1 2 3 4 5 6 7 839
40
41
Time (sec)
1
2
Severe Test: Mimics a ship in a turbulent weather
96
Propeller Out
Propeller In
Low Speed
High Speed 0.61
0.53
0.45
NormalizedSpeed
Time (s)0 2 4 6 8
0 1 2 3 4 5 6 7 8700
800
900
0 1 2 3 4 5 6 7 895
100
105
0 1 2 3 4 5 6 7 880
85
90
0 1 2 3 4 5 6 7 839
40
41
Time (sec)
1
2
Stable AC generator under severe mode swinging
97
0 1 2 3 4 5 6 7 8700
800
900
0 1 2 3 4 5 6 7 895
100
105
0 1 2 3 4 5 6 7 880
85
90
0 1 2 3 4 5 6 7 839
40
41
Time (sec)
1
2
0 1 2 3 4 5 6 7 8700
800
900
0 1 2 3 4 5 6 7 895
100
105
0 1 2 3 4 5 6 7 880
85
90
0 1 2 3 4 5 6 7 839
40
41
Time (sec)
1
2
Propeller Out Propeller In
Low Speed
High Speed
1.06
1
0.94
1.02
1
0.98
0.61
0.53
0.45
NormalizedSpeed
NormalizedAC
Generator Voltage
NormalizedAC
Generator Frequency
Time (s)0 2 4 6 8
Transition trajectory causes massive power swing at the grid and torque bump at the shaft
98
InitialCondition
0.5
1.5
1
0 π/2π/4 3π/4
Torque bump
2
Magnitude
Angle
(φX, φY)
(φX, φY)
Target steady state
Sizing comparison: High-power motors and variable speed drive
99
Motors Drive
Specification: 1250 HP, 4160 V, Air-cooled
Medium voltage High Efficiency Induction Motors, TECO Westinghouse price bookABB ACS1000 Industrial Drive
Machine design: 30 MW, 200 rpm, 4160 V, 60 Hz
100
Parameter Value
No. of pole 54
Stator rated current
2775 A
Rotor-to-stator turns ratio
2
Air gap flux density 0.75 T
Stator and rotor volume current
densities
6.5 A/mm2
Active length 2.55 m
Stator outside diameter
2.75 m
Rotor inside diameter
2.4 m
Rotor magnetizing current
480 A
Rotodrive: Induction/grid connected mode
12
a, b: Mechanical Switch
L. Morel IAS Transaction, Jul 1998
Used as discrete operation regimes
13
Hydro-electric power station Starting method for drives
Xibo Yuan, IAS Transaction, June 2011François BONNET, ECPE, Sept 2007
Ship Propulsion: Synchronous/grid connected mode
14
Steven Leeb & James Kirtley et al., Naval Eng. Journal, June 2010
Seamless grid interaction to ensure stability of the ac grid
104
0
-0.5
0.5
1
1.5
0.5 1 1.50Po
wer
(no
rmal
ized
)Speed (normalized)
PRPS
PM
PM
Seamless grid interaction to ensure stability of the ac grid
105
0
-0.5
0.5
1
1.5
0.5 1 1.50Po
wer
(no
rmal
ized
)Speed (normalized)
PRPS
PGPG
Solution: No intermittent energy storage in the variable speed drive
Front-end converter
Drive-end converter
Coordinated Front-end converter control
106
Current control
dqabc
Grid voltageangle
Ref. q-axiscurrent
Reactive power
controller
Ref. Reactive Power
demand
Dc link voltage
controller
Ref. Dc linkvoltage
Actualdc link voltage
Ref. d-axiscurrent Front-end
converter
Stator & rotor active power
Stator & rotor reactive power
Three-phase
PLL
Grid voltage angle &
frequency
Braking resistor
command
Stator & rotor
active power
Ac grid voltage
Contributions
107
• Drive design • Switch realization• Seamless control
• Grid interaction• Drive topology comparison• DFM design considerations