Ned Mohan - Analysis and Control of Electric Drives

1 COVER

2 TITLE PAGE

3 COPYRIGHT PAGE

4 PREFACE A NEW APPROACH

5 ACKNOWLEDGMENT

6 ABOUT THE COMPANION SITE

7 Part I: Fundamentals of Electric Drives 1 Electric Drives: Introduction and Motivation 1‐1 THE CLIMATE CRISIS AND THE ENERGY‐SAVING OPPORTUNITIES 1‐2 ENERGY SAVINGS IN GENERATION OF ELECTRICITY 1‐3 ENERGY‐SAVING POTENTIAL IN THE END‐USE OF ELECTRICITY 1‐4 ELECTRIC TRANSPORTATION 1‐5 PRECISE SPEED AND TORQUE CONTROL APPLICATIONS IN ROBOTICS, DRONES, AND THE PROCESS INDUSTRY 1‐6 RANGE OF ELECTRIC DRIVES 1‐7 THE MULTIDISCIPLINARY NATURE OF DRIVE SYSTEMS 1‐8 USE OF SIMULATION AND HARDWARE PROTOTYPING 1‐9 STRUCTURE OF THE TEXTBOOK 1‐10 REVIEW QUESTIONS REFERENCES FURTHER READING PROBLEMS 2 Understanding Mechanical System Requirements for Electric Drives2‐1 INTRODUCTION 2‐2 SYSTEMS WITH LINEAR MOTION 2‐3 ROTATING SYSTEMS 2‐4 FRICTION 2‐5 TORSIONAL RESONANCES 2‐6 ELECTRICAL ANALOGY 2‐7 Coupling Mechanisms 2‐8 TYPES OF LOADS 2‐9 FOUR‐QUADRANT OPERATION 2‐10 STEADY‐STATE AND DYNAMIC OPERATIONS 2‐11 REVIEW QUESTIONS REFERENCES FURTHER READING PROBLEMS 3 Basic Concepts in Magnetics and Electromechanical Energy Conversion3‐1 INTRODUCTION 3‐2 MAGNETIC CIRCUIT CONCEPTS 3‐3 MAGNETIC FIELD PRODUCED BY CURRENT‐CARRYING CONDUCTORS 3‐4 FLUX DENSITY B AND THE FLUX ϕ 3‐5 MAGNETIC STRUCTURES WITH AIR GAPS 3‐6 INDUCTANCES 3‐7 MAGNETIC ENERGY STORAGE IN INDUCTORS 3‐8 FARADAY’S LAW: INDUCED VOLTAGE IN A COIL DUE TO TIME‐RATE OF CHANGE OF FLUX LINKAGE 3‐9 LEAKAGE AND MAGNETIZING INDUCTANCES 3‐10 MUTUAL INDUCTANCES 3‐11 BASIC PRINCIPLES OF TORQUE PRODUCTION AND VOLTAGE INDUCTION 3‐12 REVIEW QUESTIONS FURTHER READING PROBLEMS 4 Basic Understanding of Switch‐Mode Power Electronic Converters4‐1 INTRODUCTION 4‐2 OVERVIEW OF POWER ELECTRONIC CONVERTERS 4‐3 CONVERTERS FOR dc MOTOR DRIVES ( ) 4‐4 SYNTHESIS OF LOW‐FREQUENCY ac 4‐5 THREE‐PHASE INVERTERS 4‐6 POWER SEMICONDUCTOR DEVICES [2] 4‐7 HARDWARE PROTOTYPING OF PWM 4‐8 REVIEW QUESTIONS REFERENCES FURTHER READING PROBLEMS 5 Control in Electric Drives5‐1 INTRODUCTION 5‐2 dc MOTORS 5‐3 DESIGNING FEEDBACK CONTROLLERS FOR MOTOR DRIVES 5‐4 CONTROLLER DESIGN 5‐5 THE ROLE OF FEED‐FORWARD 5‐6 EFFECTS OF LIMITS 5‐7 ANTI‐WINDUP (NON‐WINDUP) INTEGRATION 5‐8 HARDWARE PROTOTYPING OF dc MOTOR SPEED CONTROL 5‐9 REVIEW QUESTIONS REFERENCES FURTHER READING PROBLEMS AND SIMULATIONS

8 Part II: Steady‐State Operation of ac Machines 6 Using Space Vectors to Analyze ac Machines6‐1 INTRODUCTION 6‐2 SINUSOIDALLY DISTRIBUTED STATOR WINDINGS 6‐3 THE USE OF SPACE VECTORS TO REPRESENT SINUSOIDAL FIELD DISTRIBUTIONS IN THE AIR GAP 6‐4 SPACE‐VECTOR REPRESENTATION OF COMBINED TERMINAL CURRENTS AND VOLTAGES 6‐5 BALANCED SINUSOIDAL STEADY‐STATE EXCITATION (ROTOR OPEN‐CIRCUITED) 6‐6 REVIEW QUESTIONS REFERENCES FURTHER READING PROBLEMS 7 Space Vector Pulse‐Width‐Modulated (SV‐PWM) Inverters7‐1 INTRODUCTION 7‐2 SYNTHESIS OF STATOR VOLTAGE SPACE VECTOR 7‐3 COMPUTER SIMULATION OF SV‐PWM INVERTER 7‐4 LIMIT ON THE AMPLITUDE OF THE STATOR VOLTAGE SPACE VECTOR 7‐5 Hardware Prototyping of Space Vector Pulse Width Modulation 7‐6 SUMMARY REFERENCE FURTHER READING PROBLEMS 8 Sinusoidal Permanent‐Magnet ac (PMAC) Drives in Steady State8‐1 INTRODUCTION 8‐2 THE BASIC STRUCTURE OF PMAC MACHINES 8‐3 PRINCIPLE OF OPERATION 8‐4 THE CONTROLLER AND THE PPU 8‐5 HARDWARE PROTOTYPING OF PMAC MOTOR HYSTERESIS CURRENT CONTROL 8‐6 REVIEW QUESTIONS REFERENCE FURTHER READING PROBLEMS 9 Induction Motors in Sinusoidal Steady-State9‐1 INTRODUCTION 9‐2 THE STRUCTURE OF THREE‐PHASE, SQUIRREL‐CAGE INDUCTION MOTORS 9‐3 THE PRINCIPLES OF INDUCTION MOTOR OPERATION 9‐4 TESTS TO OBTAIN THE PARAMETERS OF THE PER‐PHASE EQUIVALENT CIRCUIT 9‐5 INDUCTION MOTOR CHARACTERISTICS AT RATED VOLTAGES IN MAGNITUDE AND FREQUENCY 9‐6 INDUCTION MOTORS OF NEMA DESIGN A, B, C, AND D 9‐7 LINE START 9‐8 HARDWARE PROTOTYPING OF INDUCTION MOTOR PARAMETER ESTIMATION 9‐9 REVIEW QUESTIONS REFERENCES FURTHER READING PROBLEMS 10 Induction‐Motor Drives10‐1 INTRODUCTION 10‐2 CONDITIONS FOR EFFICIENT SPEED CONTROL OVER A WIDE RANGE 10‐3 APPLIED VOLTAGE AMPLITUDES TO KEEP 10‐4 STARTING CONSIDERATIONS IN DRIVES 10‐5 CAPABILITY TO OPERATE BELOW AND ABOVE THE RATED SPEED 10‐6 INDUCTION‐GENERATOR DRIVES 10‐7 SPEED CONTROL OF INDUCTION‐MOTOR DRIVES 10‐8 PULSE‐WIDTH‐MODULATED PPU 10‐9 Harmonics in the PPU Output Voltages 10‐10 REDUCTION OF AT LIGHT LOADS 10‐11 HARDWARE PROTOTYPING OF CLOSED‐LOOP SPEED CONTROL OF INDUCTION MOTOR 10‐12 SUMMARY/REVIEW QUESTIONS REFERENCE FURTHER READING PROBLEMS

9 Part III: Vector Control of ac Machines 11 Induction Machine Equations in Phase Quantities: Assisted by Space Vectors11‐1 INTRODUCTION 11‐2 SINUSOIDALLY DISTRIBUTED STATOR WINDINGS 11‐3 STATOR INDUCTANCES (ROTOR OPEN‐CIRCUITED) 11‐4 EQUIVALENT WINDINGS IN A SQUIRREL‐CAGE ROTOR 11‐5 MUTUAL INDUCTANCES BETWEEN THE STATOR AND THE ROTOR PHASE WINDINGS 11‐6 REVIEW OF SPACE VECTORS 11‐7 FLUX LINKAGES 11‐8 STATOR AND ROTOR VOLTAGE EQUATIONS IN TERMS OF SPACE VECTORS 11‐9 MAKING A CASE FOR A dq ‐WINDING ANALYSIS 11‐10 SUMMARY PROBLEMS 12 Dynamic Analysis of Induction Machines in Terms of dq ‐Windings12‐1 INTRODUCTION 12‐2 dq ‐WINDING REPRESENTATION 12‐3 MATHEMATICAL RELATIONSHIPS OF THE dq ‐WINDINGS (AT AN ARBITRARY SPEED ω d) 12‐4 CHOICE OF THE dq ‐WINDING SPEED ω d 12‐5 ELECTROMAGNETIC TORQUE 12‐6 ELECTRODYNAMICS 12‐7 d ‐ AND q ‐AXIS EQUIVALENT CIRCUITS 12‐8 RELATIONSHIP BETWEEN THE dq ‐WINDINGS AND THE PER‐PHASE PHASOR‐DOMAIN EQUIVALENT CIRCUIT IN BALANCED SINUSOIDAL STEADY STATE 12‐9 COMPUTER SIMULATION 12‐10 Phasor Analysis 12‐11 SUMMARY FURTHER READING PROBLEMS Test Machine 13 Mathematical Description of Vector Control in Induction Machines13‐1 INTRODUCTION 13‐2 MOTOR MODEL WITH THE d ‐AXIS ALIGNED ALONG THE ROTOR FLUX LINKAGE ‐AXIS 13‐3 VECTOR CONTROL 13‐4 HARDWARE PROTOTYPING OF VECTOR CONTROL OF INDUCTION MOTOR 13‐5 SUMMARY REFERENCE PROBLEMS 14 Speed‐Sensorless Vector Control of Induction Motor14‐1 INTRODUCTION 14‐2 OPEN‐LOOP SPEED ESTIMATOR 14‐3 MODEL‐REFERENCE ADAPTIVE SYSTEM (MRAS) ESTIMATOR 14‐4 PARAMETER SENSITIVITY OF OPEN‐LOOP ESTIMATOR AND MRAS ESTIMATOR 14‐5 PRACTICAL IMPLEMENTATION 14‐6 SUMMARY REFERENCES FURTHER READING PROBLEMS 14‐A APPENDIX 15 Analysis of Doubly Fed Generators (DFIGs) in Steady State and Their Vector Control15‐1 INTRODUCTION 15‐2 STEADY‐STATE ANALYSIS 15‐3 UNDERSTANDING DFIG OPERATION IN dq AXIS 15‐4 DYNAMIC ANALYSIS OF DFIG 15‐5 VECTOR CONTROL OF DFIG 15‐6 SUMMARY REFERENCES FURTHER READING PROBLEMS 16 Direct Torque Control (DTC) and Encoder‐Less Operation of Induction Motor Drives16‐1 INTRODUCTION 16‐2 SYSTEM OVERVIEW 16‐3 PRINCIPLE OF ENCODER‐LESS DTC OPERATION 16‐4 CALCULATION OF