Copyrighted Material Contents CHAPTER 1 Fundamentals of Electric Motors .. 1.1 Fundamental Operating Principle af Electric L1.1 Configuration of Blectrie Motors 1.1.2 Basic Operating Principle of Electric Motors. 1.2 Requirements for Continuous Torque Production, 12.1 Magnetic Energy... 1.2.2 Linear Motion Device 12.3 Rotating Machine 1.3 Mechanical Load System ....... 13.1 Dynamic Equation of Motion 13.2 Operating Modes of an Electric Motor 1.4 Components of an Electric Drive System. LA. Power Supply. 14.2 Electric Motors... 14,3 Power Electronic Converters 144 Digital Comrollers a 14.5 Sensors and Other Ancillary Circuits... 237 SERERER 8 CHAPTER 2 Control of Direct Current Motors 2.1 Configuration of Direct Curent Motors. ‘2.2 Modeling of Direct Current Motors, 2.2.1 Armature Circuit 22.2 Back-Electromotive Force. 2.2.3 Torque 2.2.4 Mechanical Load System 2.3 Steady-State Characteristics of Direct Current Motors. 23.1 Amature Voltage Control. 2.3.2 Field Flux Control. 2.3.3 Operation Regions of Direct Current Motors... 24 Transient Response Characteristics of Direct Current MOOS nennenesnennentnn 2.5 Motor Control System... Copyrighted Raterialvi Contents 2.6 27 28 29 CHAPTER 3 at Copyrighted Material 2.5.1 Configuration of Control System 2.5.2 Types of Control 2.5.3 Design Consideration of Conirol System. Current Contraller Design 2.6.1 Proportional—Integral Current Controlle 2.6.2 Anti-windup Controller... Speed Controller Design. 21 Propertional—Integral Speed Controller. 2.1.2 Integral-Proportional Controlle: Power Blectronie Converter for Direct Current Mot 28.1 Switch Similation of Direct Current Motor Drive System: MATLAB/Simulink 2.9.1 Direct Current Motor Modeling 2.9.2 Mechanical Sysiem Modeling .. 2.9.3 Proportional—Integral Current Controller Modeling 2.9.4 Proportional—Integeal Speed Controller Modeling 2.9.5 Four-Quadrnt Chopper Modeling .. RRefereMC 0S cecunontnsnsnnetnnn Alternating Current Motors: Synchronous Motor and Induction Motor Induction Motors... 3.1.1 Suueture of Induction Movor: 3.1.2 Fundamentals of Induction Motor: 3.1.3 Equivalent Circuit of Induction Motors. 95 anS, 296 99 104, 3.1.4 Characteristics of Induction Motors 112 3.1.5 Operating Modes of Induction Motors 123 3.1.6 Effect of Rotor Resistance 124 3.1.7 Determining Equivalent Circuit Parameters 128 3.1.8 Speed Conteol of Induction 131 3.1.9 Operation Regions of Industion Mow 139 Synchronous Motors. 143 3.2.1 Cylindrieal Rene Synchemons Motors... 14a 3.2.2 Salient Pole Rotor Synchronous Motors. 148 3.2.3 Starting of Synchronous Motors 1s References, 132 Copyrights MaterialCopyrighted Material Contents vil CHAPTER 4 Modeling of Alternating Current Motors and Reference Frame Theory 4.1 Modeling of Induction Motor... ALLL Stator Windings. 4.1.2 Rotor Windings. 4.1.3 Inductance Between the Stator and Rotor Windings.. 187 158 4.2. Modeling of Permanent Magnet Synchronous Motos 163 42.1 Structure of Permanent Magnet Synchronous Motors... 164 42.2 Model of Permanent Magnet Synchronous Motors... 169 4.3. Reference Frame Transformation 174 43.1 Types of the dg Reference Frame 175 43.2 Reference Frame Transformation by Mateix Exquations... 43.3 Reference Frame Transformation by ‘Complex Vector. 44 dq Axes Model of an Induction Motor 44,1 Voltage Equations in the d—g Axes. 442 Flox Linkage Equations in the d—g Axes 44,3 Torque Equation in the da Axe 4.5 d—g Axes Model of a Pemnanemt Magnet Synchronous Motor. 45.1 Voltage Equations in the dq Axes 45.22 Flux Linkage Equations is the d—g Axes 45.3 Torque Equation in the dy Axe References, 176, 185 188 189 190, 193 197 198, CHAPTER S Vector Control of Alternating Current Motors. 5.1 Conditions for Instantaneous Torque Control of Motors. 5.2. Vector Conteal of an Induction Motor. 52.1 Instantaneous Torque Control ofan Induction Motor... 32.2 Direct Vector Contin! Based an the Rotor Flux 5.23 Indirect Vector Cantrol Based on the Rotor Flux... 524 Detuning in the Indirect Vector Control 5.3. Flux Estimation of ar: Induction Motor.. $3.1 Rotor Flux Linkages Estimation Based on the Stator Vokage Equations: Vokage Model . 53.2 Rotor Flux Linkages Estimation Based or: the Rotor Voltage Fqustions: Current Model. $3.3 Combined Flux Estimation Method Copyrighted Materialvill Contents 54 55 CHAPTER 6 6.1 62 63 64 CHAPTER 7 MM 72 Copyrighted Material Flux Controller of Induction Motors .. Sa.1 Proportional—Imegral Flux Contoller ‘Vector Control of Permanent Magnet Synchronous. 35.1 Vector Control of a Surface-Mounted Permanent ‘Magnet Synchronous Motor. essen 35.2. Vector Control of an Permanent Magnet Synchrenows Motor. References. Current Regulators of Alternating Current Motors... 247 Hysteresis Regulator... Ramp Comparison Currem Regulator d-g Axes Current Regulators . 6.3.1 Stationary Reference Frame deq Current Regulator, 6.3.2. Synchronous Reference Frame d-q Current Regulator...255 6.3.3 Gain Selection of the Synchronous Reference Prame Pl Current Regulater... Feedforwan! Conirol 6.4.1 Feedforward Control for Induction Motors.. 6.4.2 Feedfonvand Central far Permanent Magnet Synchronows Motors. ‘Complex Veotor Current Regular . References. a - Pulse Width Modulation Inverters. Inverters. 7.1.4 Basie Circuit Configuration af a Voltage Source Inverter 7.1.2 Single-Phase Half-Bridge Inverers.. 7.1.3. Single-Phase Full-Bridge Inverte 7.14 Three-Phase Square Wave Inverters (Six-Step Inverter). 7.1.5 Modeling of Three-Phase Inverter Using 265 Switching Functions 283 Pulse Width Modulation Inverters. 288. 7.2.1 Programmed PWM Technique 290 7.2.2 Sinusoidal PWM Technique ...... 4.23 Third Hammonic Injection PWM Technique 7.24 Spuve Vector PWM Technique... Copyrighted MaterialCopyrighted Material Contents. 7.4 PWM Technique Based on Offset Voltage. 15 78 Ww CHAPTER 8 a2 CHAPTER 9 a2 7.3.1 60 Discontinuous PWM Technique. 7.3.2 60? (£20") Discontinuous PWM Technique... 73.3. * 120° Discontinuous PWM Technique .. 7.34 3? Discontinuous PWM Technique, 7.1 Space Vector PWM Technique Implementation Based on Offset Voltage. Overmadulati 75.1 Dynamic Overmodulation Methods. 75.2. Steady-State Overmodulation Method Dead Time... 7.6.1 Dead Time Efe 76.2 Dead Time Compensation Current Measurement. References... High-Speed Operation of Alternating Current Motors Field Weakening Control for Induction Motors, 8.1.1 Classic Fiekd-Weakening Control Method 8.1.2. Vohage- and Current-Limit Conditions 8.3. Field-Weakening Control for Producing the Maximum Torgue .. Flux- Weakening Control for Permanent Magnet Synchronous Motors. 82.1 High-Speed Operation of an Interior Permanent ‘Magnet Synchronous Motor 8.2.2 High-Speed Operation of a Surface-Mounted Permunent Mugnet Synchcunous Motor... References. nents BFL Speed Estimation and Sensorless Control of Alternating Current Motors... 373 Position Sensors 9.1.1 Resolver. os 9.1.2 Rotary Encoder _ Speed Estimation Using an Incremental Encoder. 373 313 375, Copyrighted MaterialCopyrighted Material Contents: 9.3. Sensorless Control of Altemating Current Motors, 9.3.1 Types of Sensorless Control References. CHAPTER 10 Brushless Direct Current Motors ...... 10.1. Configuration of Brushless Direct Current Motors. 10.1.1 Comparison Between Brushless Direct Current Motors and Direct Current Motors 10.1.2 Comparison Between Brushless Direct Current Movors and Permanent Magnet Synchronous Moters...391 10.1.3. Constrection of Brushless Dincet Current Motors... 393 10.2. Driving Principle of Brushless Direct Current Motors.. 10.3 Modeling of Brushless Direct Current Motors: 103.1 Voltage Equations. 103.2. Torque Equation... 10.4 Concol of Brushless Direct Cument Motors 104.1 Speed Control 10.4.2. Current Conteal 10.5 Pulse Width Modulation Techniques.. 10.5.1 Bipoler Switching Method. 10.5.2. Unipolar Switching Method. 10,8 Sensorless Control of Brushless Direct Current Motors 10.6.1 Sensorless Contral Based on the Back-Flectromotive Foroe References. Index. AT Copyrighted Material