ADE Q-BANK ANSWERS(CH-1,3)

Q-1 State in brief, how torque is estimated in closed loop control of electric drives.

Answer: In
closed loop system, the output of the system is feedback to
the input. The closed loop system controls the electrical drive, and
the system is self-adjusted. Feedback loops in an electrical drive may
be provided to satisfy the following requirements.

1. Enhancement of speed of torque

2. To improve steady-state accuracy.
3. Protection
The main parts of the closed-loop system are the controller,
converter, current limiter, current sensor, etc. The converter converts
the variable frequency into fixed frequency and vice-versa. The
current limiter limits the current to rise above the maximum set
value. The different types of closed loop configuration are explained
below.
Current Limit Control

This scheme is used to limit the converter and motor current below a safe
limit during the transient operation. The system has a current feedback
loop with a threshold logic circuit.
 The logic
circuit protects the system from a maximum current. If the current is raised
above maximum set value due to a transient operation, the feedback
circuit becomes active and force the current to remains below the
maximum value. When the current become normal, the feedback loop
remains inactive.

Closed-Loop Torque Control

Such types of loop are used in battery powered vehicles, rails, and electric
trains. The reference torque T* is set through the accelerator, and this T*
follows by the loop controller and the motor. The speed of the drive is
controlled by putting pressure on the accelerator.

Closed-Loop
Speed Control

The block diagram of the closed loop speed control system is shown in the
figure below. This system used an inner control loop within an outer speed
loop. The inner control loop controls the motor current and motor torque
below a safe limit.
Consider a reference speed ω*m which produces a positive error Δ ω*m.
The speed error is operated through a speed controller and applied to a
current limiter which is overloaded even for a small speed error. The
current limiter set current for the inner current control loop. Then, the drive
accelerates, and when the speed of the drive is equal to the desired speed,
then the motor torque is equal to the load torque. This, decrease the
reference speed and produces a negative speed error.

When the current limiter saturates, then the drive becomes de-accelerate
in a braking mode. When the current limiter becomes desaturated, then
the drive is transferred from braking to motoring

Q-2) Explain in brief, the control of Current Source Inverter with necessary diagram.

Current Source Inverter

Definition: The current source inverter converts the input direct current
into an alternating current. In current source inverter, the input current
remains constant but this input current is adjustable. The current source
inverter is also called current fed inverter. The output voltage of the
inverter is independent of the load. The magnitude and nature of the load
current depends on the nature of load impedance.

Current Source Inverter Control

A thyristor current source inverter is shown in the figure below. The

diodes D1-D6 and capacitor C1-C6 provide commutation of thyristor T1-T6,
which are fired with a phase difference of 60º in the sequence of their
number. It also shows the nature of the output current waveform. The
inverter act as a current source due to large inductance LD in DC link. The
fundamental component of motor phase current is shown in the figure
below.

The torque is controlled by varying DC link current Id by changing the

value of Vd. When the supply is AC, a controlled rectifier is connected
between the supply and inverter. When the supply is, DC a chopper is
interposed between the supply and inverter.

The major
advantage of current source inverter is its reliability. In the case of current
source inverter a commutation failure in the same leg does not occur due
to the presence of a large inductance Ld.

In an induction motor, the rise and fall of current are very fast. This rise
and fall of current provide large motor spikes. Therefore a motor of low
leakage inductance is used. The commutation capacitance C 1-C6 reduce the
voltage spikes by reducing the rate of rising and fall of the current. A large
value of capacitance is required to sufficiently reduced the voltage spikes.

Q-4) describe selected harmonic elimination with necessary diagram.

Selective Harmonic Elimination (SHE) method is used to reduce the quantity

of Total Harmonic Distortion (THD) in the existing system. Three phase
voltage source inverter converts the DC into AC which in this is fed to the load
(RL).The SHE PWM technique is currently used to synthesize an output
waveform of

both a half-bridge and a full-bridge inverter. In this thesis, a three-level

SHE PWM

generated by a full-bridge inverter is considered. A full-bridge or H-bridge

voltage source

inverter, which comprises four switches and one dc source, is depicted in

Fig. 4.1.

Three states of an output waveform such as positive, negative, and zero,

can be

obtained. Fig 4.2 shows a generalized three-level SHE PWM waveform,

which is

synthesized by using the inverter circuit shown in Fig 4.1. The output
waveform is

chopped N times per quarter. Each switch is, therefore, switched N times
per cycle to

generate such a waveform.

Q-5) draw the block diagram of Electric drive and explain each block in brief.

Block Diagram of Electrical Drive:

The following are the components of electric drive.

1. Source (Energy requirement for the operation the system)
2. Power Modulator (Modulate (adjust or convert) power flow from the source to the load)
3. Motor (Actual energy converting machine (electrical to mechanical))
4. Load (A machinery to accomplish a given task. Eg-fans, pumps, washing machine etc.)
5. Sensing Unit (Measure the real time operating condition)
6. Control Unit (Adjust motor and load characteristics for the optimal mode.)
Source:
Electrical power source is needed to drive the eletric motor. A. C. suply of suitable voltage

and frequency is used where the supply system is A. C. In our country 230 V, 50 Hz is used
for single phase and 415 V, 50 Hz is used for the three phase power source. Where D. C.

power source is used for the D. C. system.

Power modulators:
Power modulators regulate the power flow from source to the motor to enable the motor

to develop the torque speed characteristics required by the load.

The common function of the power modulator is,

 • They contain and control the source and motor currents with in permissible limits during
the transient operations such as starting, braking, speed reversal etc.
• They converts the input electrical energy into the form as required by the motors.
• Adjusts the mode of operation of the motor that is motoring, braking are regenerative.

Converters:
They provide adjustable voltage/current/frequency to control speed, torque output power

of the motor.

The various type of converters are,

• AC to DC rectifiers
• DC to DC choppers
• AC to AC Cyclo-converter
• DC to AC Inverters
Motor:
The type of motor used depends upon many factors like characteristics of load, whether

the speed control is required or not, if required , whether continuous control is needed or

two to three fixed speed are needed.

The motor may be of:

• D. C. Series motor
• D. C. Shunt motor
• D. C. Compound motor
• Synchronous motor
• Schrage motor
• Single Phase Induction Motor
• A. C. Series Motor
Load:
The load may be a machine, pump, compressor, electric locomotive, machine tool, elevator

etc.
Sensing Unit:
Sensors are used in automatic closed loop system. They measure various parameter like

motor speed, supply voltage, current etc and control the motor output.
Control Unit:
It controls the power modulator and extract the desired output from the converter.

Q-6) Already in notes:

Q-7) State advantages of vector control over scalar control.

Q-8) Compare VSI and CSI fed drives.(pdf given)

Q-9) compare DTC and FOC

FOC uses linear controllers and pulse width modulation (PWM) to control the
fundamental components of the load voltage. On the other hand, DTC is a
nonlinear strategy that directly generates the voltage vectors in the absence
of a modulator.
Q-10) list different permanent magnet motors

Q-11) block diagram of synchronous motor drive

Permanent Magnet Synchronous Motor Black Diagram Of

Closed Loop Control

The basic block-diagram of PMSM drive system shown in figure in this figure basic
four part divided in this circuit. All part discuss in briefly in this below section. The
below figure shown it is one type of closed-loop block diagram.

There are four basic component

1. Voltage Source Inverter

2. Pm Synchronous Motor

3. Current Controller

4. Position Sensor
Voltage Source Inverter

Voltage Source Inverters are devices that convert a DC voltage to AC voltage of

variable frequency and magnitude. They are very commonly used in adjustable
speed drives and are characterized by a well-defined switched voltage wave form
in the terminals. The ac voltage frequency can be variable or constant depends on
the application. Three phase inverters consist of six power switches connected as
shown in figure to dc voltage source. An inverter switches must be carefully
selected based on the requirements of operation, ratings and the application.

PM Synchronous Motor

A permanent magnet synchronous motor (PMSM) is a motor that uses

permanent magnets to produce the air gap magnetic field rather than using
electromagnets. These motors have significant advantages, attracting the interest
of researchers and industry for use in many applications. The properties of the
permanent magnet material will affect directly the performance of the motor and
proper knowledge is required for the selection of the materials and for
understanding PM motors. Permanent magnet (PM) synchronous motors are
widely used in low and mid power applications such as computer peripheral
equipment’s, robotics, adjustable speed drives and electric vehicles.

HYSTERESIS Current Controller

Current regulators for AC drives are complex because an AC current regulator

must control both the amplitude and phase of the stator current. The AC drive
current regulator forms the inner loop of the overall motion controller. As such, it
must have the widest bandwidth in the system and must, by necessity, have zero
or nearly zero steady-state error both current source inverters (CSI) and voltage
source inverters (VSI) can be operated in controlled current modes. The current
source inverter is a "natural" current supply and can readily be adapted to
controlled current operation.

The voltage source inverter requires more complexity in the current

regulator but offers much higher bandwidth and elimination of current harmonics
as compared to the CSI and is almost exclusively used for motion control
applications. Hysteresis current controller can also be implemented to control the
inverter currents. The controller will generate the reference currents with the
inverter within a range which is fixed by the width of the band gap. In this controller
the desired current of a given phase is summed with the negative of the measured
current. The error is fed to a comparator having a hysteresis band.

When the error crosses the lower limit of the hysteresis band, the upper
switch of the inverter leg is turned on but when the current attempts to become
less than the upper reference band, the bottom switch is turned on. The hysteresis
band with the actual current and the resulting gate signals. This controller does not
have a specific switching frequency and changes continuously but it is related with
the band width shown in figure.
Position Sensor

Operation of permanent magnet synchronous motors requires position

sensors in the rotor shaft when operated without damper winding. The need of
knowing the rotor position requires the development of devices for position
measurement. There are four main devices for the measurement of position, the
potentiometer, linear variable differential transformer, optical encoder and
resolvers. The ones most commonly used for motors are encoders and revolvers.
Depending on the application and performance desired by the motor a position
sensor with the required accuracy can be selected.

OR
Q-11) draw block diagram of synchronous motor drives.
Q-13) explain CSI fed synchronous motor drives.

Operation of self controlled synchronous motors by current source inverter

A synchronous motor draws a stator current which is independent of stator frequency when V/f

and E/f

are maintained constant and armature resistance is neglected. The motor also develops constant

torque.

The flux also remains constant. Therefore, by controlling the stator current of a synchronous

motor we

can have flux control as well as torque control. As has been discussed in the case of the induction

motor,

current control is simple and straightforward. A synchronous motor is fed from a Current Source

Inverter

Fed Synchronous Motor Drive. A synchronous motor can have either separate control or self

control. Due

to stable operation self control is normally employed, by using either rotor position sensing or

induced

voltage sensing. The motor operates in CLM mode. When fed from a CSI the synchronous motor

can be

operated at leading power factor so that the inverter can be commutated using machine voltages.

A load
commutated, CSI fed self controlled synchronous motor is very well known as a converter

motor. It has

very good stability characteristics and dynamic behavior similar to a dc motor.

Due to machine commutation the working speed range starts typically above 10% of base speed

and

extends up to base speed. By using (assisted ) forced commutation the lower speed limit can be

extended

to zero. During the operation in the speed range from 0 to 10% of base speed (above which

load commutation is possible) the machine can be operated at UPF.

When fed from a CSI, the synchronous motor is supplied with currents of variable frequency and

variable

amplitude. The dc link current is allowed to flow through the phases of the motor alternately.

The motor

currents are quasi-square wave if the commutation is instantaneous. The motor behaviour is very
much

affected by the square wave currents. The harmonics present in the stator current cause

additional losses

and heating. They also cause torque pulsations, which are objectionable at low speeds.

A Current Source Inverter Fed Synchronous Motor Drive is inherently capable of regeneration.
No ad-
ditional converter is required, and four quadrant operation is simple and straightforward.

Due to over excitation the machine power factor is leading. The motor is utilized less. –The

phase control

on the line side converter for current control in the dc link causes the power factor to become

poor at

retarded angles of firing. The cost of the inverter is medium, due to absence of commutation

circuit. The

drive has moderately good efficiency and is popular as CLM in medium to high power range.

Voltage

spikes during commutation occur in the terminal voltage. These depend on the sub transient

leakage

reactance and affect the insulation of the motor also. The motor must have damper windings to

limit the

Voltage spikes. Application of this type of drive is in gas turbine starting, pumped hydro turbine

starting,

pump and blower drives, etc.

Third harmonic ASC CSI for use with synchronous motor at low speeds for starting

Sometimes it may be required to provide forced commutation for the inverter. Obviously the

speed range

can be extended from zero to base speed. The discussion regarding regeneration, harmonics and

torque

pulsations hold good for this case also. The line power factor is poor. However the machine is

operated at

UPF to obtain the advantages already discussed. The cost of the inverter increases due to forced

commutation. The efficiency of the drive is good and it is popular as a drive in the low to

medium power

ranges in CLM mode. The drive cannot be operated in open loop. Stability improves in CLM

mode. The

problem of voltage spikes is present here also and commutation is simple.