Field excitation control of a motor-generator set load system using PID

Abstract The aim of our project is to control the field excitation of the generator so as to meet the load requirements. I. INTRODUCTION A proportionalintegralderivative (PID): can be summarized as follows:It is error driven, rather than model-based. It takes from modern control theory its best offering. It is a useful digital control technology developed out of an experimental platform rooted in computer simulations. PID is made possible only when control is taken as an experimental science, instead of a mathematical one. It is motivated by the ever increasing demands from industry that requires the control technology to move beyond PID. PID proves to be a capable replacement of PI with unmistakable advantage in performance and practicality providing solutions to pressing engineering problems of today. With the new outlook and possibilities that PID represents, we further believe that control engineering may very well break the hold of classical PI. Motors are electromagnetic devices used to convert electrical energy into useful mechanical work. There are two major classications of ac motors. The rst is induction motors that are electrically connected to the ac power source. Through electromagnetic coupling, the rotor and the stator elds interact, creating rotation without any other power source. The second is synchronous motors that have xed stator windings that are electrically connected to the ac supply with a separate source of excitation connected to a eld winding on the rotating shaft. Magnetic ux links the two windings when the motor is operating at synchronous speed. Induction motors: It has fixed stator windings that are electrically connected to the ac power source. Current is induced in the rotor circuit via transformer action. The resulting magnetic field interacts with the stators field causing rotation. The rotor must rotate slower than the stator field for the induction to occur thus an induction motor operates at less

than synchronous speed. No separate power source is required to provide the rotor field. Synchronous motors: It has fixed stator windings electrically connected to the ac supply with a separate source of excitation connected to a field winding on the rotating shaft. Magnetic flux links the rotor and stator winding causing the motor to operate at synchronous speed. Generator is a device that converts mechanical energy to electrical energy. An electric generator or electric motor that uses field coils rather than permanent magnets acquires a current to be present in the field coils for the device to be able to work. If the field coils are not powered, the rotor in a generator can spin without producing any usable electrical energy, while the rotor of a motor may not spin at all. Smaller generators are sometimes self-excited, which means the field coils are powered by the current produced by the generator itself. The field coils are connected in series or parallel with the armature winding. When the generator first starts to turn, the small amount of remanent magnetism present in the iron core provides a magnetic field to get it started, generating a small current in the armature. This flows through the field coils, creating a larger magnetic field which generates a larger armature current. This "bootstrap" process continues until the magnetic field in the core levels off due to saturation and the generator reaches a steady state power output. 1.1 Scope of the work The scope of this project is control the field excitation of the generator so as to meet the load requirements in MATLAB. The control approach used to do this project is PI controller. 1.2 Background An electricgenerator or electric motor consists of a rotor spinning in a magnetic field. The magnetic field may be produced by permanent magnets or by field coils. In the case of a machine with field coils, a current must flow in the coils to generate the field, otherwise no power is transferred to or from the rotor. The process of generating a magnetic field by means of an electric current is called excitation.

2. GENERATOR-MOTOR SETUP This chapter tries to analyze the design of the Generatormotor setup by dividing the manufacturing field into number of zones. It also provides the study of different components used in this setup. 2.1 Different Components (a) Generator An Generator is a device that converts mechanical energy to electrical energy. The reverse conversion of electrical energy into mechanical energy is done by a motor. A generator forces electrons in the windings to flow through the externalelectrical circuit. It is somewhat analogous to a water pump, which creates a flow of water but does not create the water inside. The source of mechanical energy may be a reciprocating or turbine steam engine, water falling through a turbine or waterwheel, an internal combustion engine, a wind turbine, a hand crank, compressed air or any other source of mechanical energy. We are assuming the speed of the Generator is constant. So the generator develops an EMF proportional to the Field current. Vg= Kg if Where Kg is the Generator gain in Volts/Amp Vg(s)= Kg If(s)

a gas turbine, or traction motors used on vehicles, often perform both tasks. Electric motors and generators are commonly referred to as electric machines. The applied EMF Vg on the motor armature is balanced by the armature drop and back EMF, Eb. Vg= Ia Ra + Eb Taking laplace transform Vg(s) = Ia(s) Ra +Eb(s) That can be expressed in terms of Armature current as follows Ia (s)= [Vg(s)- Eb(s)]*1/Ra Since the flux of the motor is constant, the back EMF of the motor is directly proportional to the Angular speed, and the torque. T developed by the motor is directly proportional to the armature current Ia. T(s)= KT Ia(s) The torque developed by the motor is used to run the load by overcoming the opposition offered by the moment of inertia. Torque T= J[d /dt]. That can be expressed as, T(s)=J s (s) (s) = (1/Js)T(s)

Kg

Vg(s) 1/ ra

Figure-3: Block diagram of motor Fig-2: Block diagram of Generator

(c) Difference Amplifier

(b) Motor A Motor converts electrical energy into mechanical energy. Most of the electric motors operate through interacting magneticfields and current-carrying conductors to generate force,although electrostaticmotors use electrostatic forces. The reverse process, producing electrical energy from mechanical energy, is done by generators such as an alternator or a dynamo. Many types of electric motors can be run as generators, and vice versa. For example a starter/generator for The difference amplifier compared the reference voltage, er (corresponding to the desired speed) and the feedback voltage, et from tachogenerator. It produces a current proportional to the difference between these two voltages. This current is used to excite the generator field. if(s)= Ka[Er(s)-Et(s)]

JKg-m2 and negligible friction. A tachometer is employed for the speed feedback which develops a feedback voltage of Kt Volts(rad/sec). The desired speed is set through a potentiometer. The difference between the reference voltage Er and the feedback voltageEt is amplified using a dfferential amplifier which produces a field current of Ka amps/volt.

Fig-1: Block diagram of difference amplifier (d) Tachogeneretor The Tachogenerator develops an emf proportional to the angular speed, . The emf produced by tachogenerator is used as feedback signal. et = Kt Et(s)= Kt (s) Where Kt is the tachogenerator gain constant in volts/ (rad/sec).

II.

PROJECT MODEL

Figure-4: block diagram of tachogenerator 2.2 Controller Description: Block Diagram The generator field time constant is negligible and it is driven at constant speed giving a generated voltage of kg Volts/field amp.The generated emf is used to run the seperately excited motor which has a back emf of Kb Volts/(rad/sec). The motor develops torque of KT N-m/amp. The motor and its load have a combined moment of inertia J kg-m 2 and negligible friction. A tachometer is employed for speed feedback which develops a feedback voltage of Kt volts (rad/sec). The desired speed is set through a potentiometer .The difference between reference voltage , er and the feedback voltage , et is amplified using an amplifier which produces a field current of KA amps/volt. Simulink Model

The control control law is based on error and not on the model. It is based on state observer an efficient strategy which is the outcome of modern control approach. It uses the Non-linear feedback thus enhancing performance. It is well suited to digital computer technology based applications and is an outcome of experimental digital applications.

3. Generator Motor in Matlab: Consider the speed control system shown below to control the angular spee.of the load. The Generator time constant is negligible and it is driven at constant speed giving a generated Voltageof Kg Volts/field amp. The generated EMF is used to run the seperately excited motor which has a back EMF of Kb Volts/(rad/sec). The motor develops a torque of Kt N-m/amp/ The motor and its load have a combined moment of inertiaof

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SIMULATION RESULTS References

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A.Nagoor kani Control Systems, RBA Publications. WWW.SCRIBD.COM