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Steady-State flowModel
sh
ωrm
Tsh = = = 274 .349 N - m
Q Steady-State Model
: What happened to T/I Torque-Speed
ratio in the Curve
43 Derivation
n = (1 − 0.Shaft
04 )×Power
ω rm π ×=1440
2Power
1500 1440 and losses in an induction motor
rpm Torque-Speed Curve DerivationRelationship between rotor mechanical 1 electrical
1and speeds
60 a
x
xα 22πn 2
separately excited DC motor? 1 − −
ωs xb
Torque-Slip equation 2
Tm Trated
b) Rotor speed d) efficiencysh m
P = P − Fixed losses
For induction motor: Mechanical power derived fromStationary to αβ transformation
abccircuit:
steady-state ω rm ==
− Pcu , s − PcuSteady-State Model
Maximum torque developed by ωrm
x β 3 60 3 3
c) Output torque or Shaft torque
x c
Psh = 41.771 − 0.4 = 41
Psh.371
= PskW , r − Prot
ω r = Pω rm 2
the machine is 3 P Rr Vs2
T-ω characteristics of (1 − s ) 0 − +
Steady-State Model
Tm = ⋅ ⋅ smax n −n P 41 .371 Voltage and Frequency Control (E/f)Pm = 3I r2 Rr 2
Separately excited dc motor
s= s ⇒ nη= =(1 −shs )×n100 = = 90.36 %
Steady-State Model
2
ωs
Rs + r + ( X ls + X lr )2
s R Ir s s
Steady-State Model
Power factorn s P 45 . 784 Transformation matrix
Relationship is 2x3
betweenand it is not
synchronous possible to calculate
mechanical its
and electrical speeds
3P Vs2 s
s
Stator
From electromechanical copper
conversion, 40 losses
Torque-Speed Characteristics
the output torque is Substituting P = T ω in the above equation leads to
Tm , max =
(Rs )2 + ( X ls +Steady-State Model s
m m rm
2ω s R ± X lr )2 inverse Torque-Speed120 Curve
n = (1 − 0.04 )× 1500 =P144041rpm Derivation ωrm
1 2 1 − s Torque-Speed Curve ns = Derivation
Tm,max .371 × 10 3
s 1 2 1− s cos ϕ = cos (∠V s T−sh∠= Iωssh) == cos
fs (P0cu+, s 21 2 .)349
= 0N.-93
= =3.274
I47 m lagging
ωrm Voltage and Frequency Control (V/f) rm
Neglect the stator impedance s=1 Ir,Tm • Maximum torque Tm =reduces 3as I ra Rr How
Q: = to find 3I rthe inverse
Rr transformation? 2π × 1440 s Rs
Maximum torque developed p by the
rm speed) ωr / P
60 50
ωbase
Torque-Speed 53
Curve Derivation T-ω characteristics
c)equivalent
Output
Shaft Power
torque or Shaft d)torque Pcu , s = 3 × (71.06 ) × 0.15 = 2.272 kW
2 function of k2 (above s
Torque-Slip
s
equation
machine is 2πcomponent
ns ωs
At Low value of slip Torque-Speed Characteristics
Approximate Stator input
circuit power efficiency • Introducing the equation of zero sequence
ωdT
sm =
xo Tm Trated
ωs • Torque-speed(1characteristics
Substituting - s) = ω /ω into
are the above equation, we have
Torque-Slip equation Rotor currentTm Trated P
with bysh
= Pm − Fixed losses Voltage
the Rs and Xls are η = Psh ×Airgap 41 .371 and Frequency Control (E/f)
20 r s m
= 060 ωrm
IEEE Recommended equivalent circuit ω Torque-speed characteristics
Power
considering
factor 100 = power = 90.36 % quite similar to the DC motor • In a three-phase balanced system, thedszero sequence component
rm
1 R P 3 P R ω s 2= Pω sm = 2πf s
V
22 2 • Magnetizing inductance
V is referred
V ω toP =
stator 41 .
side771 − 0 . 4 = 41 . 371 kWP
3V s I s cos ϕ = 3 × 230 .94 ×Torque-Speed
45 . 784
.06 × 0.93Characteristics
characteristics
Vs 3P Vs
3I r r isTzero
3 P Rr s s s 2 ag
3P R V Ir = ≅ ⋅ s rm sh P = +T P71 = 45 .784 kW Tm = = r s
s mω= P ⋅ s motor ⋅ ωrms
Note: Tm = ⋅ Tmr ⋅= ω ⋅ s ⋅ 2 s 2 = ω ⋅ R ⋅ s smax s ag = Ps − Pcu , s
R
2 -T Rr
• Torque-speed lines areω P
s /in /ω max
R Rrcan
slipRr =2 ± (R )2 + ( X + X )2
m,max
sInduction
Variable
• The steady ω s equivalent
state s s circuit
Voltage
Rs + r sControl
+ (X lsbe
s
derived
r
Rs + Irr + ( X ls + X lr )
from the dq-axis
2
cos ϕ = cos ∠V s − ∠I s = cos 0 + 21
k=1.0
Pag.47 =.784
0.93− lagging not
s Rx o = (xa + xb +R
1
xcr) =0
( ) ( ) I
lr ) Arbitrary
Pag = 3I r2 r Reference +s =Frame
2 = 45 2.27 2 = 43.512 kW torque reduces ωs
s
+X s • Maximum as a for above base speed
parallel
3 R + s max X
s ls
n s ls− n+ X
lr2
( ) Tm r Trated
IM model
k=0.8 50
function of k2 (above where Pag is the airgap power,
base speed)
operation 25given by s ωlr
s − ωr ωrm
2torque(E/f)
Stationary Reference Frame T-ω
T-ω characteristics
characteristics
Vs = E • Maximum reduces as a At Low value of slip
Steady-State Model 22
rated d)
f s efficiency 3 P Rr E rated 3P E rated Tm
Vs2 Vs2 Vk=0.2 compared to Vf sthe fmaximum torque without Rs and Xls?
Stationary-o dq Reference Frame
Stationary Reference Frame
3 P Rr 3P = ⋅and ⋅Power 2Capability function of k2 (above
. sk base speed) • abc to dq0 transformation
TmTorque (=k < 1⋅ )
s
Ir = ≅ s ⋅s 45
System VEfficiency
Ps 45.784 Torque-Speed
T Control Curve Derivation Vins2space 3P= xa cos Vθs2+ xb cos(θ − 120o )+I xc cos=(θ + 120o ) Vs V
f s (η)
3 P oRnot
81
2 Rotor current
+
PagCharacteristicsFan Load
η= m =
Torque-Speed = 1− s Speed (ωmr) rated
o 1 1
(rθTr )is– operating
r
54
-1
of 4%.
n2
s
+2( X lr )
s=1 Ir,Tm
Example 6.2 Tm , max = 77
η = sh × 100 = =Note:
90.36 % constantT k=1 3 3
+ (kX lr )
2
Pand Power Capability
x = 0 − x cos 30° + x cos 30° = 0 − x +
R,srsk=3 IRrsRr Torque (Fork >a 1 )
x
2ω s Pcu 2 current, slip speed (ωsL) is proportional to k m β
2
b c b c
(kE rated )2 =• Increase the speed from 2 X to Y point
X 45 .784 Note:
kEcurrent
3 P Rr 3 P Rr E rated 2
= parameters
Tm The ⋅ ⋅ How⋅ to change
⋅ ± + ( X ls + X lr )2 s P = kE rated I r cos tans −1 lrEsk rated
41
Rotorrated
77 For rated current, the power
Voltage kω s and s RFrequency ω s Control (E/f) Torque and Power Capability ( k < 1 ) xq cos(θ − 240) x a
Given: of 2a three-phase Q: squirrel-cage
sk Rr IM are from
as follows:
the 2speed X to Y?
r 20 ∴ ω sL α k 41 to αβ
2 speed operation Rr
k k I = R = . sk ω Stationary cos(abc ) transformation
+ (kX lr )kW, 400 V, 1370
2
rpm, +50+J (Hz, ) 2
cos θ θ −120
2
r
ω r
Voltage and s Frequency
A 3-ϕ, delta-connected, 2.8
Control
T =T
d X lr 4-pole
(E/f)
IM has rm
Above base is directly proportional to k sl
21 6
sk Mechanical output power
[ ] 1 θ −240) x b
e L
Speed
Torque-Speed Control =5, X (Decrement)
X =X characteristics
=80. Motor areis controlled by a stator voltage control. When Pm = Pag − Pcu , r Q:Maximum
Why, thetorque r + (kX lr ) (V) is 83
2 not 50 zero at k = 0 ?
Ir= Ir,rated 30 o
α
ls lr m
65
ωfan load it runs at rated speed atωrated voltage.
o
3
60 b
rm
3 P R s P x 3
20 − 2 + 2 2 x
driving a
2
2 β
ω
I r2P r Pag (1 − sk )
rm
3P Vrated o 13
kωηs = ms =
Voltage and Frequency Control (E/f)
T
Pm = 3I r2 mr,max− 3I r2 R
-T m,max s sL
2ωr s= 3XI lrr (1 − sk )
Voltage Rand ±kω s rFrequency Control (E/f)(E/f)
m rated
Voltage
X point s and Frequency Control (E/f)
and torque at 1200 rpm. rm
and independent k
k=0.8 sk sk Pag Pag =voltage
0 at k r=s0max r =
k=1 Where K isdq0 arbitrary constant of 2/3
b) Motork=0.8speed, Y
k=0.6 current, and torque Speed
for the terminal
Control
I voltage of 300 V
the k(Increment)
max
Transformation matrix from rotating to abc transformation
• Change from 0.8 to 0.5 r
= ⋅ ⋅
m,max
Solution: Rated motor terminal voltage (Delta connection)
T
m,max
T L
sin θ 1
of theVoltage and E Frequency speed (ωControl and Power (E/f)
k=1.0I ,T
m
T Tsecond quadrant x = cos(θ −120) sin(θ −120) 1 x
s=1
2
Voltage Characteristics
Torque-Speed andVs Frequency Control
m
m
k=0.8
(E/f) Note: sk is constant, so the efficiency
r
Y
m
ω s isskconstant Rr irrespective k 3P 2
Torque Capability ( k > 1[x)abc ] = [K s ] [xqdo ] ⇒25
T
+ (P kX lr =)23I 2 Rr
82
= Vll = 400 ∠0 °
Airgap power
Q: How ± toFor
=Note: achieve
a constant thecurrent,
above base b
84 slip
sL) is proportional to k
⋅ 2rated d
Arbitrary Reference Frame
• T –itωislines are parallel to each other Q: How to achieve the above base 74 TRotor
m , max speed current
Q1: Why,
Speed
Maximum
second
Control
Torque
quadrant?
torque (T(Increment)
k=0.5 2 X
s
k=0.6
k=0.55
ag r 2 operation?
ω s k X lr ∴ ω α k Torque equation V
xc cos( θ − 240 ) sin( θ − 240 ) 1 xo
• Maximum ) is independent of k
• Slip will be negative and torque will be negative
m,max
Tm ≅
3 P Vs
⋅ ⋅s speed operation? skTorque and Power Capability
sL
(k<1)
56
ω s Rr T 77 E rated E 2 2
. Rotating-dq Reference Frame
m
• Starting dTtorque is high ω
I r = • For below = rated . s 85 Tm = 3P ⋅ Rr ⋅ E rated 3P E rated s
m
= 0ω
rm
base speed operation = ⋅
rm • Increase k in small steps
Rotor copper losses 2 R ω sk RrI = I
2
ω R P k 5
ds
(0voltage
≤ k ≤ 1) (V) is 2not zero
dω
+T
ω T =T +J rm
79 Q: Why, the R r at k = 0 ? s s r
Q2: What-T happens, if we operate at point Z ? an intermediate
m,max
•dt For below base speed operation e L
Speed ControlT(Decrement)
dω rm
f = kf
− 3I r Rr =Erated3I r2 r (1 −Torque sk
Q: )WhatTmisand = the⋅η r =
Power
effect⋅ of
= = 3Pin⋅ Efrequency
rated
Capability
2 increment
rated s
( 84k. > 1 )
Tmonα the
k 1
2
Note: For a constant current, the
α Pflux ? torque is inversely proportional to k θ o
RP Pag
66
e = TL + J
dt
ω Q: How Vs =toEachieveand the sabove Torque-Speed
rated
base sk φ p = 4.44k N f A:
Characteristics sk In order to maintain ω s sk
constant
r ag + (kX E/f)(flux
2
ω s is rR k k k
Torque-Speed Characteristics
rm lr
+T
speed operation? E = Vs = Vrated sw st ratedconstant), we will apply
Note: For a constant sa minimum
current, slip speed (ωsL ) is proportional to k
-T m,max
T
69 L
m,max
P = P (1 − sk ) m ag η =Ir=1Ir,rated− sk Q1: How long the process will 86
k=1.0 voltage atIr=kIr,rated
=0 3P E rated 2
sk 78 continue ? k=1
k=0.75
k=0.7
k=0.8 Y Q: current
Rotor What is the effect of increment Maximumintorque
frequency
belowon the speed
base flux ? Tm = ⋅ ∴ ω . 2 α k From previous slide
• For below base speed operation • This is calledTm ω ω αRk
voltageTmcompensation ksL orA1:voltage boost will continue
The process
α 1/k s sL r ωksL α k
k=0.5
(0I r ≤=k ≤ 1)
33E rated Note: sk is constant, so the efficiency is constant skirrespective
ω sL
of
until ω the
sL is equal to ω sL,max
t
X
ωsL Tmα 2 α 2V θ = ∫ ω dt + θ o
2 2
R 3P E rated k k 85 0
Voltage and Frequency Control
Tm
(E/f) r + (kX lr ) f s = kf rated
2
Tm78, max = ± . P (constant) • For above base speed, the
ω = dθ / dt θo – Initial position
• Decrease the k intermediately V = sE s and V
2ω s base
Below X lrspeed operation 77
Therefore, 84 machine needs to be derated 42
43
E = Vs = kVrated Tmα
k
α
1 Note: For a constant current, the
Above base speed operation
Speed
• Motor Control
operates (Increment)
on negative part of the torque characteristics Pα k k2 k torque is inversely proportional to k
• Constant torque region (0 ≤ k ≤ 1)
39
ωrmvalue
• Current will be with in the rated
Torque equation
• Constant power region (k > 1) 14
-Tm,max m,max
+T • For above3PbaseRspeed operation Maximum torquetorque
(k >1)
Maximum above base speed k=1 k=k 86
Note: The control philosophy of Induction motor is similar to
TL
I r2 r
e
k=1.0 Tm =
DC motor. Only the implementation is different. kω s s dTm 2r E rated
f s = kf rated 3Pφ=p ±=ERrated
Voltage and Frequency Control (E/f)
k=0.8 Y =0 s max
Vs = E and • The characteristics are similar to the DC motor
E = Vs = Vrated dsTm , max = ± ⋅ kX
4.44k sw N st f rated 39 42
2ω s k 2 Xlr lr
72
2
3 P Rr E rated Q2: How to generate the variable voltage and frequency ?
Voltage and Frequency Control (E/f)
k=0.6
k=0.5 X k=0.55 = What
TmQ: ⋅ is⋅ the effect
2 of increment in frequency on the flux ?
ω s sk Rr
Torque and Power Capability (k>1)
2
3P E rated 43
+ (kX lr )
2
Tm m , max = ±
Note:TMaximum ⋅ 2 7
s 2ωtorque is a function of k for above base speed 87
s k X lr
• Increase k in small steps
Te = TL + J
dω rm 36
operation
78 Above Rated Frequency Operation (k>1)
Torque equation
• Choose an intermediate value of k dt 79 2 2
3 P Rr 3P s E rated E rated
Q: What we are gaining by choosing an intermediate value of k ? Q: How to achieve the above baseTm = ⋅ ⋅ = ⋅ . 2
ω s sk Rr ω s Rr k
speed operation? 80
+ (kX lr )
2
70
Voltage and
s Frequency Control (E/f)
• For below base speed operationExample 6.3 2
Voltage and Frequency (0
Control
≤ k ≤ 1) (E/f)
3P 39E rated sk
Given: The Tm =
parameters ⋅ . 2 squirrel-cageFrom previous slide
ω s of aRthree-phase
r k
IM are as follows:
35 A 3-ϕ, star-connected, 60 Hz, 4-pole IM has the followingω sLparameters
α k in
Torque-Speed Characteristics Vs = E and
f s = kf rated sk ω sL
E = Vs = kVrated
ohms α 2 αto
Tmreferred
Below stator
base
2
are Rsoperation
speed =Rr=0.024, Xls=Xlr=0.12. The40
rated slip of
the motor kis 0.04. k
The IM is controlled by a variable frequency source
Maximum torque below base speed
with a constant v/f ratio.
2
Therefore,
• For above base speed operation (k >1)
3P E rated 1 Note: For a30constant current, the
Tm , max = ± . Find: a) Motor speedkat rated
2ω s X lr Tmα 2 α torque and frequency Hz.
torque is inversely proportional to
E rated k
Vs = E and
f s = kf rated φk p = k
E = Vs = Vrated Solution: At rated voltage and4.frequency,
44k sw N st fkrated
=1
Maximum torque above base speed
At 30 Hz operation, 86
2 Q: What is the effect of increment in frequency on the flux ?
3P E rated 30
Tm , max = ± ⋅ k= = 0 .5
2ω s k 2 X lr 60
78
Note: Maximum torque is a function of k for above base speed 88
operation
43
80
44
39
40
Stator Voltage Equations Torque equation
• 3P
J λqs = −( Lls + Lmq )iqs = − Lq iqs
= Te − TL ( ) λds iqs − λqs ids
Wound Rotor Synchronous Machine
Te =
dt
imq
λr = Lmd I f 2
Flux Linkages
λds = − Lls iin md (I f − ids ) Form
Matrix
vqs = − rs iqs + ω r λds + sλqs vqsdω rm = T − Ts λ L3P ds + L
Rotor Voltage Equations
J ( )
λds iqs − λqs ids
qs mq
LTorque
d = Llsequation
+ Lmd requires only stator quantities
Torque equationi dt
e LT = i
e
Wound Rotor Machine
Synchronous Final simplified synchronous machine model
Note:
L = L + L
Wound dsRotor Synchronous Machine = −( Lls + Lmd )ids + Lmd I f = − Ld ids + λr
kq1 kd
v = − r i − ω λ + sλ 2
q
r r
λqsof SM − Lls − Lmq iqs
kq1
ls mq
ds s ds r qs
o • Dynamic Model
kd
0 Lmq Lmq ω r = ω rm P 0 P – Pair of poles 0
3P
Torque equation
L Tev=kq 1 (λds iqs −Lλlkdqs ids ) v kd 29
r2= ω rm P
L P – Pair of poles (from previous
sλ qskq 2 − L Llkq 2 + Lmq 0 ikq 2
v = − r i − ω L i +
slide)ω λ − L pi 0 Lmq 0
Wound Rotor Synchronous Machine
qs r d ds r mqr q qs
ωvr ds= ω=rm−Prs ids P+dsr –ωPair
v sλ L
L
v kd = rkd ikd + s λ kd L
r q ofi − L
qs poles si
d ds r v
ds = − r i
s ds + ω L i
r q qs − L pi
d ds
mq
kq 2
md ds md
fd
i i
λkd 0 Simplified−SM LmdModel 0 0 Llkd + Lmd Lmd ikd
v fd = r fd i fd + s λ fdNote: Torque equation
requires only stator quantities
Wound Rotor Synchronous Machine
kq 2 fd
) i λ
i
i ( λ (
Vdc 3P
)
Q: How to build 21
Simulink Model?
16 Te = 2π λr iqs qs − L − Lq ids iqs
Permanent Magnet Synchronous
qs 3πd ds ds
λ
π
λ
2
1 λds and λqs into the following equations 1
Wound
Wound Rotor Rotor Synchronous
Synchronous i Machine
Machine
Substituting Te
= Wound Rotor kq ia Machine
Synchronous Machine = 0L.q8> Ld
=
A: Much simpler than that for the IM. Use the following
L mSM: i L
Wound Rotor Synchronous Machine D
For non-salient pole SM: Lq = Ld For salient pole Te
1 1 kq1 fda Torque
Permanent
ωi λ λ Magnet Synchronous
equations to build your Simulink model for the SM. 2 fd Equation
Dynamic SM model D PMSM Mathematical Model
q
v = − r i + + s d
Motion
ω rm λ
Simulink vqs Model
= −Voltage
rs iqs − ωr Ld ids + ωSource
Steady
Converter
State Model of SM qs s qs mr =
ds 15 qs
i
Equation
-Voltage r L Equation
Linkage
vrqsMotion
mq
= −rs iqs − ωr Ld idsω+ ωr λr
Tboth
used for e kq 2 Find:
PMSM and WRSM. md
g
v +v +v v =0
1
bn cn
6 Equations Equations ω g
fd an bn
r
vg 2 i T Equation
i Torque T e
rm t Stator current,
31 stator
28 voltage, Voltage Source Converter
v
3
vds = −rsEquation
ids + ωr Lq iqs cn
kq 2
v fd = r fd i fd + s λ fd vSinusoidal
fd
Then,
PWM – Gate signal generation
L
i output power, output power factor g v +v +v Note: v is referr 5
Wound Rotor
v Synchronous
v # of vpolesMachine
t
kq 2 fd
v Equation rm 32
nverter Topology
Simplified
Note: SimulinkSM
Wound model Model
Rotor
Vˆcr
Synchronous
for synchronous
Torque
machines
π
Equation m rthe rotor reference Sinusoidal PWM
Vin
Machine
p
2π
ωt
Torque equation: 3P
(λds iqs −index
Te = • Inverter
• g1 ~ g6 (vg1 ~ vg6) are the gating signals of devices S1 ~ S6
λqs idsto) AC conversion − ωr LLiqs ) + j ( RLiqs + ωr LLids )
= ( R i stage
e
Motion ωt m – Amplitude
2#πofω
frame 2 – DC 1) 16S Lisds
π Equation poles
rm modulation
2 •(0gn≤ =m1 ≤then n turn-ON, and gn = Simulink
0 then block
Sn isdiagram
turn-OFF 14 a a
ds + λvalue
∧
3P
ωt ds Machine
Steady state model:
Field Orientation
16 p
v g1 frame
V r
L ds carrier
r signal
L qs L ds v L qs
Te = λ iqs − λqs ids cr cr
(
(from previous slide) Converter Modeling
) m
Converter Modeling
g1 , g3 , g5
Q: Why
Another L(di/dt)
vtorque = 0?
expression:
2
# of polesstudy 8.1 2– Steady-State
Case ∧ λofqs SM
Analysis Lq iqs RL Load
= −with vqs = RLiqs + ωr LL ids = RLiqs + X L ids
17
r g2
Voltage SourceSquare
Converter θv=qsSinusoidal
vθ=g 6−+rθs iqs − ωr Ld idsPWM –LqWaveforms Direct FOC
Rated Apparent Power 3.32MVA 1.0 pusalient pole SM: L > L cn cN nN
For non-salient pole SM: Lq = Ld
For v = ( − v − v + 2v ) / 3
Operation – Load voltage waveforms
8
Voltage signalSource Converter
qs q d cn aN bN cN
Rated Rotor Speedωt
f r
−vrgs1ids + ωr Lq iqs − Ld pids Converter ModelingRated Torque 2πωt
sl 400 rpm fm1.0
– Frequency
pu of modulation
22 π f Under balanced load conditions
• Line-to-Line load voltage waveform has vds =levels cr
r stationary frame
bn cn
v = V (2 g − g − g ) / 3
Voltage Source Converter an dc 1 3 5
What if both S1 and S4 are OFF? Align the rotor flux vector with the
vaN d-axis of 2 π 2π r r 11 R i
lWhy
Scheme
r 10 jω λ Then, v +v +v
Note: v is referred as a
Machine
Rated Rotor Flux Linkage λr 6.774Wb
Rs(peak) 0.528pu v = V (− g + 2 g − g ) / 3
Lls 16 Llr nN
v = −r i −
i r r
Converter Topology
aN bN cN
the rotating frame ωr Ld ids + ωr λr V Converter output voltages v = bn dc 1 3 5
is
r
Simulink Implementation
v = –V (− g − g + 2 g ) / 3
s r
qs s qs Base Impedance
Vdc
4.70Ω
30
3
nN
Gating voltage.
common-mode signal generation
we refer two-level voltage source converter? r v1.0 pu
dc an cn dc 1 3 5
λqr = 0 For non-salient pole SM: Lq = Ld For salient pole SM: Lq > Lωdt V
g1 i
Case study
v aNr = g1Vdc 8.1 –
dc
Stator Resistance r 0.035Ω 0.007pu van
g 3 Ld s pλ0.574pu L pλ g3
m
v
19 m
( )
vbN 11 vbN = g 3Vdc vcn
vcns r g1 , g 3 , g5
λdr = (λr ) − λqr = λr
2 2 g5
q-axis Synchronous Inductance
g Lq 23.9mH 1.276pu
5
32 Vdc From SG
λr v model
= g V in previous slide: From previous slide:
Q: Salient or non-salient
Direct FOC
5 pole SM?
Voltage Source Converter
ωt cN 5 dc
The SM model can used for both non-salient and salient SM. 15
8 v cr
= RLids − X Liqs
vds
31
van = (2vab + vbc) / 3 v = −r i + ω L i
Q:•
v dsS1 ~ frame
S6 s ds
ofr gating
q qsthe IM model?
• g1 ~ g6 (v36g1 ~ vg6) are the gating signals of devices
)
∫( )
4 A:and (Vddcds ∧
s qs
• g2, gλ
Control Block Diagram • g130~ gπ6 (vg1 ~ vg6) are the gating signals
ωt of devices = S complementary
4, sg6 are
v~s −SRs is dt gating signals of g5, g1, g3.
r
Direct FOC r
Dynamic Model
λ = Lr λ − σ L i
1 6
2π
r r r r Converter
r rModeling
• Each device is ON for 180o duration. v g1 vab = vaN − vbN λ − L i L ∧
qs
ωt
L
• g2,π g4, g6 14
are complementary2πgating of gSCIM
signalswhere dynamic (space vector) σ = 1−in the
factor model frame
5,σgis
1, the
g3. total leakage 3
Torque Equation
11 Lr
• Switching Field Orientation
takes place every period 60o vaN r r phasevvoltages?
S4 are ON?
= (2+v aN
ω−r λvbN −=vcNR) / 3i
− rRsriqsir − ωr Lvdanids + ωr LL ids (b)
L Q: How to get
j ωsr the
λrr load
9
(
i Rs Llr
Vs Q1:s What if both lsS1 and r L qs
λr
θf
Simplified torque equation:
Voltage Source Converter
Lm
Lr
bn = ( −v aN + 2vbN − v cN ) / 3
r 22
3) Electromagnetic torque: Vdc im 35
λdr = L (λds − σ Ls ids )
r
λ = Lr (λ − σ L i )
17
r
λqr = 0
Dynamic Model
vs Q2: What if both
r S1 and S4 are rOFF?
s qs
x2 + y 2
220 9 λr ωt Converter Modeling ωr ( LL + Lq )
y
x
vs pλs Lm pλr
ωλ ds • (ω − ω r )λ dr ids =converter? Substituting to (b):
qr
iqs
tan −1
Lls Llr
iqs 3R s R i
λdr = (λr ) −vbNλqr
2
( )2 = λr From voltage
Q3: Why we refer two-level
15 (a): source
Dynamic Model
r qr
3P Converter output voltages λ + rsphase voltages interms of gating signals and V
R•LLoad are
r dc
Voltage
VoltageSource
and VoltageTof
Converter
Flux Linkages eSource λds − ids λqs )
=IM (iqsConverter
Lr λdr
Lr λqr
dc
v = V (2 g − g − g ) / 3
2
Direct FOC
vbN =stator Q: Which frame is used for the IM model?
− Rs iqs dt
ωt The g 3Vdc flux vector
ω λ ( R2 g+−rgs )) / 3
an dc 1 3 5
Simulink Model
qs
•Speed Speed
v qs pλqs
pλqr v qr
λds = (vds − Rs ids ) dt
)
VSquare Operation – Voltage waveforms
Lm
Lm
Voltage
Square Operation PI controllers:
Voltage Source Converter∫
comp
Voltage Te =
2 Lr
(iqs λdr − ids λqr )
vab
v ab 1 ( )
λs = vs − Rs is dt A: Stator (stationary) frame.
r r ( R + rsv)cnr2=+Vdcω(−r2g(1 L
3
− Lg 3 +
5
+ 2Lgd5 ))(
/ 3LL + Lq ) 9
• fs Q: r Lr Lr
m
Lm
Dynamic ω ) λHowRModel
(a) q-axis circuit r r L2m r
Converter
λqs = ( Lls + Lm )iqs + Lm iπqr = Ls iqs + LModeling
m iqr λ ωt
2π qs Ls 0 0 σ
Lm where i
qs is the total leakage factor Lr σ = 1−
( )
37
T =K i λ
qs
i qm
but thefrequency?
above one is extensively vabλ=dsv=aN( L−lsv+bNLm )ids + Lm idr = Ls ids + Lm idr DCThe flux
inputrotor g1ia + g 3ib + g 5ic λr =
idc =expression λs − σLs L
Lr i
s s (from the previous slide)
qr
λds
λqs
ωλ qs (ω − Q2: to adjust the output e T qs r current
∫ (v
ids Rs i r qr λds = 0 Ls 0 Lm ids Lm 4
Square Operation –L Voltage
pλ pλ L L
Speed ls Speed
waveforms
v v
of the used. Why?
r dr lr ⋅ load
σ Ls
σ Ls
qs qr
Voltage Note:Voltage
One important tasks in the
qs m qr
the 35
2 PLm λqr = ( Llr + Lm )iqr +Converter
Lm iqs = Lr iqroutput
+ Lm iqsvoltages 0 Q: How
Lr to0 get
Simulink Model i dm
λ =
λqs =
Q3: Which configuration 1)the
Voltage
is suitable equations:
forflux
v/f square wave operation? qr m
Decomposing 3. rotor flux control
the rotor flux into the d- and q-axis components
ds
angle θf for field orientation. Lm
A: It involves only the stator- 3Lr λdr = ( Llr + Lm )idr + Lm ids =14L
vr idr =+ LgmV
ids 18
Motion Speed
equation:p λ ds p λdr circuit
Speed
L
λdr = L (λds − σ Lsids )
3ø 3ø
vqs = R32s iqswhich
v ds Lm(a) q-axis v dr 3ø 3ø aN 1 dc r
Voltage M + pλqsare + ωλ M
(from the previous slide)
Voltage
ωλ qs vab = vaN - vbN (ω − ω r ) λ qr sideInduction
variables, allds Induction
vbN = g 3Vdc
m
Can be directly measured Direct FOC
Rs
Rs
( ) = + λ − ωλ (λ − σ Lsiqs ) Direct FOC
Motor Motor
v R i p Lr
Dynamic Model
ω =
r JS e T − T L (a) ds s ds ds qs Manipulation of flux linkage equations:
vcN = g 5Vdc λ =
(a) Rotor Flux Calculator
(b)
qr Lm qs 9
Dynamic Model
(b) d-axis circuit Tei dm
ids
iqs
l Scheme
1 1
• v P = R i ω r + pλ ω − ω r )λdr
1 qr voltage qr + (wave Rotor Flux Calculator
Dynamic Model
Speed
r qrfrom square Lr
ω rm = v(Tdse − TLVoltage ) −1 −1
] → [i] = [ L]−1[λThe
Speed
λdr = L (λds − σ Ls ids )
p λ ds p λdr
(b) L
TL m Q4: How to S
obtain
Voltage v drJ sinusoidal
the voltage [λ ] = [ L][i ] • Defined
→ [ L]interms [λ ] = [of
L]gating
[ L][isignals ] magnitude and angle ofr theLrrotor r flux: r The d- and q-axis rotor flux:
vs − Rs is dt
Note: λ = λ2 + λ2
Line-to-Line load voltage waveform has three levels m
of poleSimulink
Model
P is the number waveform? pairs
r
3P and DC-link
16 voltage (Vdc) r
m
L
(
Te = 2 iqs λds − ids λqs (c)(b) d-axis circuit ) dr qr
λ = r (λ − σ L i )
ics
vcs
vbs
Lls
dr Lmλdr ds
iqs R s ( )
ibs
DC input current idc = g1ia + g 3 ib + g 5 ic 33 ias
ab aN bN λ = λ − σ L i
Induction motor dq-axis model:
r
12 s ds
Ramp and λqs ?
ωrfunction
∫(
13 ds
– rotor electrical speed i qm ω P Can be directly measured 150
ωrm – rotor mechanical speed ω rm = r• Widely (Te − TL )
ω r = JSaccepted (a) λ = Lr (λ − σ L i )
λs =
f Pqs – Voltage
No. of pole Voltage qr 1 1
ω v r Te
Torque [Nm]
kv is calculated
vqs = Ris iRqsat+ rated
• Speedqs voltages
pλds qs +
ωλ ωλds Llr (ω − ω r )λ dr R iλqs = vqs − Rs iqs − ωλds / S
frequency
Lls
D −5L
(
ids = 1 0 Lr 0 − Lm λds
⋅
0 λcage
• ) Lr iqs
1800 Block diagram of Rotor Flux Calculator
are obtained by transforming Q2: Flux the inductances from
s r qr 1
linkages are given by requirediqrin the 0 for Lsquirrel
Speed [rpm]
θf
What are the changes model vas
ds − Rs i ds +machine
• Lm Lm tan −1
vcs
idr operation)?
0 − Lm Ls λdr
qm x
induction 0 • Torqueframe
and speed waveforms
stationary Speedframe
Dynamic
to the rotating
Model
reference
v λ = Li Reference transformation: vbs λqs n
Lr λqr λr
( )
Speed x2 + y 2
v pλ pλ
v
qr = R i +
Voltage
r qr p λqs
qr + (ω − L
ω r ) λ dr
Voltage
λ
qs
qr = v qr − R i m
r qr − (ω − ω )λqr
r dr / S qr • Lr ids
are
1
similar to the waveforms in
1000 Lm
dr − Rr idr + (ω − ω r )λqr ) / S
9
Simulink
17 • Lm 600 Rs
r dr + pλdr −(a)(ω − ω r )λqr stationary reference frame
linkage equations:
dr dr
ics Lr
λdr = L (λds −
σ Ls
q-axis circuit 1
ids R s
ωλ qs (ω − ω r ) λ qr
R r i dr
iqs = [
Lr λqs − Lm λqr ] • Lm iqr
transformation
1 between the 200
ibs iqs
Rs
m
λ = Lr λ −
Lls Llr
iqs , ids , iqr , idr iqs , idsλqs = ( Lls + Lm )iqs + Lm iqr = Ls iqs + Lm iqr D D
0 σ Ls
(
0.4
• Ls qr qs
0 0.1 0.2 0.3 L0.5
m
λds = ( Lls + Lm )ids + Lmiqsidr, ids= Ls ids + Lm idr stationary and synchronous λTime
∫
i dm = ( − )
[s]
v R i dt
vqs, vds
Voltage
v ds Speed p λ ds
Speed
p λdrLinkage
Lm Flux
vqsv • Lm idr
ds
ds s ds
λTorque
qr = ( Llr + Lm )iqr + Lm iqs = Lr i qr + Lm iqs
∫( )
Voltage
vqr, vdr Voltage
• • • λqs Lr dr 1
λ = vqs − Rs iqs dt
equations λ Equations 13
Equation • Te 1 iqs Ls frames.
D qs
ω iqs λRdr = ( Llr + Lm )idr + Lm ids 1= Lr idr + Lm ids
•
qs ds ω
inductanceSimulink
Ls = Lls + Lm λ- drStator self
Arbitrary dq-Reference Frame TLλds
Motion Model
ωrm 16
A: Rotor flux synchronous frame
Equation
Lr = Llr + Lm - Rotorself inductance ωr
iqs , ids , iqr , idr iqs , ids
Input variables: ios Rs Lls Llrvariables:
Output12 R i iqs , ids
14 v , v r or qs ds
Voltage
Dynamic Model
Flux Linkage
Stator voltages : vqs, vds vqr, vdr
Stator currents : iqs, ids
equations
• Equations
• • Torque
• Te
Rotor voltages : vqr, vdr ω torque : Te
Electromagnetic λqs Equation 8
Speed of referenceos
frame : ω
v vor λds
ω r speed : ωrm
Rotor mechanical
λqr 34
Load torque : TL
λdr
λqs , λds Current Waveforms
Motion ωrm 80