Solutions Manual: Advanced Electric Drives: Analysis, Control and Modeling using MATLAB/Simulink®Acknowledgemen ‘The back-of-the-chapter problems in this book are the revised version of the problems in the original edition of this book published in year 2001. The original edition was used as a textbook in a graduate course since its publication; these solutions are primarily prepared by my former and present graduate students to whom I am deeply indebted. Of course, I take full responsibility for errors in them. Ned Mohan August 11, 2014 MinneapolisFursy we Li? fF) Enersy denity Wa = 4% BYZy (Vat) BlEnus) = Ns B he / (245) 7 cos (% Onnh) we SO ws dv IV= Lo £r_dOneh 2 we SER OM w/l2ty) ¢ cos (8 Greh)T fa by Lr Mech Le (Ms)? we Lr /( 445) [2% cost (4 Onerh) dOnech > (mfp) por hr / Ly V= Vo - Ve WW Va = Ye Lacphose Ia 7 Ae bomen % 2 Ve = Vt bu-phose "6 + “tlm a ° Vi= (2 baphore - Z born ) Win after subshtolng Ta = -is beg = Llaphose = 2Lmnat Ba = B20 = . vader conditon jae -h , & = BL-60 B=Bo+ Bh = (3 6 2-30 Bis V3 steonger with two windings and a = -/b Than a single winding by equation Wienly = Kb Bh , energy s propertene/ % the square of Flux density 4-bag gt —2—!3) 4b phave 5 L bn-phose ~ Zhmmar = > bn-phase oe Lam = ~1E be-phase.Om ws Cc — | K= al cos (én) cos(Gmsi2) cos (6-120) | bey * ee OG b| es (Gn-120) cos Gm) (03 (Gm+120) | l ces Em) coslEm-I20.) ¢0s (@m) | _ ly, 2 0 oS fen x69) = o.\326 mh Lag = 0,047KETKES) FO 1247 mu (Cee 0. 86/2 x69) =< 2.273)2 Mn C2 (y+ b= 24138 wt bye Lat bm = 2.4059 mH= 376V Tk) = %% co = 56320" Vv PF = 0.8 lagging cos" (0.6) = 37 Fe) = (%) (9) (44) 2 -39° (elec deg) ete Using Induction machrre equvolent Ckt and $= G.01FZ ern he 1 ith 2) 2 Xm Gxart BA) 7 (GXmr Xa t 8A) 2 66232 2 Vm = Va LXmue / (jXmue tiXest Rs = 3524-37 V Dee eke ee) ee ee A Fle.) =(K)(4.522-6° A) = 68 2-6°A Va (4) = 376 cs (1207 1) v Vb (4) = 376 cos (it0rt 120°) V Ve 4) = 376 cos (I20rt +120°) V fa 4) = (G2)(4) cos (stort - 37°) ih) = WE)CA) cos (ert - 37¢- 120°) ToO) = CRAY Cos (Ont = 3F° 120") >>>2-6 1 ¥ = bei 7g (t) + ben ig? (*) ” () = TAG) + bn TAC RO TS) 2) efe is * 6) Cua. Ls (IOA - 3Az120 - FA z-I20) 15.9 ls 243% = Lie) Wik = ha L, (3A = 1AeI20 - 24 2-/20) = FG Le 2 Ie KG) = Ls TW) + Late) eo”? (6, =) = IGG Ls 213° + FO lm 2d? MO = La Tt) )? 4 L7G) = 1S. Fbm cis + hE de Zt art B Om= » UF 15.4 Ly € 13° Ml 40be2ue : KO) = LA) + bm Teal) ef? 15.9 Ly 213° + F0b, 240 Lniste 7? + Le TA) S.A bm IP + BOlp 2H? XA 0) De = Lea le + Lob, + Lacie + Lenin + LaBlg > Loci Les in + bmip io — dmg le ~ & bmg le + Linig cos (Gn) in + Lig £08 (Gn + 120) lig + borg coslGm-!20) Te substivting whew ig = tn aad bn = BE bins dee Las to * Lata + Umid (cos (Emin > (3 (Gm #120) Ip * Cos (Om = 20) Te) 2 bas ivetmis + baie (cos (Gm) ig + cos (Gm+R0) te + cos (Gm) i'n) Lasic + lnic + bing (003 (Gm) te + C05 (6m4 120) ip + (05(Em~I20) ‘39 Daz Ler int loin + Lnig (cos (Gm)ia + C05 (Gm !22)j, + C0s(Em-I20) 7, de = Ler igs bmia + Lind (cos (Gm) it. + 05 (Gm +!20) 1a + Cos (Gn~l0) i, } Net Ler tet bnie + Lard (05 (Gmc + Cos GmI20) Ty + Cos (Gm~120) fgKe x's2a I4+é ewsiest te See Wilh 3 mokelley Gmpled : | tor Nx dWes Ybdt+ Urdt + inde zy | i3d As | ai dUnbttalthiga)+— + =(t 2) |= sta = itaCer) | AaB zu 12 NWng? ACK Ui Servint eos) HAC Liripie t+ bis hy ig +bisizi is) - L oe ‘ | veaifsson icy oh 31] | By be os )L = ae Gate) wordi cr to. Face?) A Wraech = AW. ~ d Minny, Cancel out = stacLr)- ose tr - ose (eZ) = os ct dCir)-or atthe Tadmech = A Waren, Ameen — Ou ot ctb eauce en ret DOr.3-] 3-phase Ms tins Z-phase VMs tuns Aset > area of one shot Ast —> tote! number of slots on stator Aw 2 otal winding area for one of He. Phose windings Acond 2 $'2e (area) -f each conduct bye > concentrre Length of airgap for a single windin ES ee pean 2 = - i- Bend = Aw 1 (2 x(# of tims) by = tr / (2% (eof phaes)) = 7 / (# A phores) Land= 2L (Hof hens) Leatege Flux i's Flix phat emlers arrgap ant travels along Tt but does not cross (rte refer — leakone Flix SS air ep RX Lend / A cond le % (Hof tens)* / Loe lm % (¢ of turns )*3-1 cont Loni-phae = oe Law = 4K . Ling = K (a Md? = Ek = Lng ss. Leg = KEM)? 7 Leer Loe = 1/3 Loe = 1/2 Lie = kK HME / (Lyese %) = KNs*/ Lyesg = Lesg Rap = k Leds [Aeods = kK 22M, / (heap /(2M5)) 7 KzLZ Ms BY CA sot Astet) I2kKLNs* 1 (Asbtastet) Rib = k Leonleg /Aeondrg = KTLVIEM, / (Aare / (208M) Rag = K ZL SEM, UVR My 2 / (Aslot astet ) in KLM / (Ast Ast) Ru| 3-2 | Rwy > Reg = R Prowse = Ta*R + ie R* IER Siousorda | cee state and Wy =O = FB gwt 2 44, - % (VE Lome) ty = 1% 3, %iy = %D . : Pen sch 8 ee 2K DR, 7 = 46K Tas R = ZIR = 2 (Fe)'R = Feds Ro + Leqrns R _ AHeiredely —LhLr—~—~—O—O [F| Fe [:] eal] = bolted Je Pours + R [lote]” Like] = R [|e] Jf)” fe] a] fk ee | Piss ] > R Cig [? anecy) ecw olf YL] R Og) ” > Pressae33 |p el os Roo 2 Ee (PF > power Fackr) fron 3-2 Se Fe Z, Cassming sinssidel $8 ond wy 20) V% Val = % Ve 3 (AE) B/G) PF = % Va Dn PF % (VY Bet )( BV Visd ) PF Fad Vol PF = 2 Videns adem, PE Pug one vf] = Raf)” RLS] > [Ved Vag} eel [arse } [ wl 2 [Vd vq) ie | eS) = Vas Isl > Vsq 5. 2 & Yon * Fad Tem = FH Ong ind ~ dod ing) Arg = bring + lng ded = br nt + bn Pod Tem = 4 (be trg ted ~ batag fed = Lrdrd tog ~ bn trg fad 2 Lm Ae (10g fed = irq isdWs = © Wd = Wa es Whe Les Lee fe 2 oA a : — s Ln vod Ved Rs WAS Uy, beri “Re, Ot ee, rs Ln - us ” t Lowe wt ___theg_of dq ver lum Wey woyn wel o Pa7 Pot A Ve = (890A VE )(%) 2 Wnt — (ele rod) Cr = Wt = Want Vel = (0%) TOK) CAR) = E10 Vey 20 part B Oya = 0 Vel = 699 cos ( Hon +) Veq = CFO 5% (Wyn t) ‘Say iy = Wsyn and d-a'mis’ aligned with VY Vl = OFe Viq =O hs C rsd dsq MW aq) = [Oo 0 0 a] Using Fig 3-10 iss = [Vsa - (- wy >sq)] / Rs - ws dsb / Rs iq Ted Win vq 1 Re rq = Wan ed 7 Re isd Vib) O- Wik 0 © Tl] rs bal, = O | ,}-ms 0 iO 0) 9 Trl o o «oc © WAL) ded icq o O 0 -wftr. @ eq, Velie ° wp, O oO On id = OP eps OO O bly 9 ba |] ise ° oO © Oo: YM le Oo: br 0 fli oO © 6 -thf. © © lm 2? Lb Shivg Veles ° typ, 0 yb, VY isa O | + rls ° wa Ye, ° ieq O° o Wy bofee Win Lefer | Teg ° cen lah ° way bh, ° ig rs) Tuy ks Oar ri eq | Ios 2A, ! wud fh ° © iat| = |G muy, lnk i bin bre, ° ie4 lun ke "tn rep I ° wi = 120m elec dA Win = O.Gial Wy = 6.46 eke rol 4 19398 = |-25649 | RA -3A04% FOR 6 = tan (- 2-56H9/2:9398) = — 41,1042 PF = cos (46103) = 0.9535 lagging3-8 Vey = ks Tug + Me deolg + jf Ws Xsdq. - Ving = Re Tndg + Ot Xalg + 5 Wa Redg (Vig = 0) for wy =O Wd, = = Wary ism (Is) = Wm oe Vig * Ry Tadg + Yor Madlg + 7H Dog Veuy = Re lintg + Wt Sodg — Gj Won (1-5) Ned " nt Sedy L(t + Orme!) — assuming snvwe| 55) be Xelq = j Wsyn Souq L (Went + Srsrmhol) “Fj Wsyn Dedg, Drdg = Sedq 2 (Want + Onrinitral) Yi om = jdsyn Body Maiq = Ra foty + J tym Dody - © = ReFndg + F Wim Xrdq ~ jf Woy (Ins) Dede, a Reindgt f 5 Way Ded ] [ Vos = Rs Tig + jwsin (Las Tady + bm la + Ln Tg) F Reindg + PS Wey (Ler Ted + Laniedg, * by Fag) Space verter, have same angie celohenship as Phasors Va = Rs Fo + jy les Ty + jus ln (Ee - Fh O=-MA TL ~ jwsmber ZK + jwsn ln (Ty - Fy) for wy = Wn Win =O ae : Vedg = Ry Tsdq + Tht Dsdq + fWn dsdq = Re Tedg + i Dodg + 7 WOR Srdg - © Ssdq 2 (susp + Srsinhal) > We Sadly = j Susy Nap dviq = Sig 2 (Seis t + Onvinihal) 2 Gt Sig = 7 S4m Krug = Rs Tod + JS Woyn Redg_ + J Wm Redg, ee) O* Ry Fol +7 S tose Kreg ~ ~ © ReTedy +5 $ Wyn ( bar Indy, + bem Toda + Ln Pedy) Vo © Rs Tat SWoyn lis Ty + fWrinke (Fp -Eh O = Refs Eh - jeaynber Bh + jusmrlm (Dy -F)oe 7 Pact a 316 Tem ( Xsd, sq Psd, Fs Tem = PA bn en Jy det 2£s ee bo rd obs ta La irg Tem = we bon ( f3q (rsd ~ by m7 ee ial xh -lsisa) /1.,) Nd Bq. beg fod pact b Teen ae fey, An, ma) rd ._ Tem = Ln Cry (Ta i a h bel (tig Xa" Say a a) lee cos(6d) cos (Gy 120) + cos (Gy-240) akong val (6) =5in (64-120) ~ 7m (64-290) Toye (é ~ sin (4) savobe ral Sig Bs ~ sin (6) < 120) 03 (6-290) - 5: (6) -240) 05 (x) €03 (YD % [cos lx+Y) + tos (x-¥) sin (x) seal y) % [cos (x-¥) - cos (x*Y) [za]lomel = [2 §] A= cos*(@) + ces? (6y-120) ~ cost (Gy -240) % [3+ cosl26) + cos (26-240) + ces (2e-(0)] = % = (08 (6) sin (6a) 4 cos (Gs 126) 5mm (6y- 3 + cosles-2¥e) 45 rn (6 ~270)) cos(x) sin(¥) = pes (x4Y) - ren] ° = (cos (63) sin(G1)'+ cos (6) -120) 57m (6-120) + 605 (61-290) 51 (6 -240)) 6 D Sint (6d) + bint (6y-I20) + 5m? (65-240) = [allo [F 2T= [04]3-0 + dD (aoe Gu fF = cos’ (6s) + sint (69) = B= cos (6s) cos(6y-'20) + in (6) sin (6g -I20) 4, [ cos (6s-120) + cos (120) + €05 (120) ~ os(26y-120)] = -K% [abae} [ any] = 16 8 ‘| oe cos (61) cos (Gy-270) + sinlGa) sinlGy-290) = cos(2mOd = -% D= cos l6s) cosley-n0) + sin (64) gol@i-2o) = E = cost (Gy -t2e) + sent (6-120) = 1 F = cos (6-290) cos(6y-120) + 517 (64-240) s/n (64-120) = Grhecl Tet3-1] Thee ae a couple wos of solving This one one. example Va = Rs io + Wa Va tly |b a Rik+ WL => Wi l=eeli] + Bl» Vee Rie t Yt dre ve ie y. Xo Vad See Ve te - El b] Vale = Rs lobe + Yt Yabe Vabe = oie Vida, didoke. Vidq = Re fate tay + Ot abla ade, premultipl, both sides by okeaug Vedq = Ry islq + aldbuq W[ babe deg) Up Calthtg ite dvlg ) “3 “Se: [Ban) ofc Yo ~ Dy $C Son) (raat) ae a = Vitq = Rs isd, + Vit dalq - Ut Carey ) robe Ye Calin) = wy YR [-827 (Gan) ~5:0(Ete-120) cenGurrn) | ~ ws (Eda) ~ cos (Gin-!20) - Cos(Gie~290) >. V3lq = Re talq + Ue Nad tty lies allernetely - | Ve = Rae +, YrXE Me ee Ys et = Rs ele + Ys [BY fe) Vel ae + HM heat Val = Re [ Rei + Bde + sua J where X$ = VB (dsl+j sq) Viq = In ( Rotel + Wr 3 + jose)Vilo= 690% fBe 3 = 45.0742 Te 3B 1013 be § 1eB1AF) Wer bom = 2.226 269-5% Wh-b Agree ( Pals (-0.4634- Zlyedvs (2.9398-) 2.5649) BA = 4.97 erd 1.9185) RA> 4599 /548-29 BA J) 2 359) We Bawa” 1,775 L212 FL We- dawn bito kA l= 15 (-3043 +]For problems 3-13, 3-14, and 3-15, stator current, rotor current, and slip speed are all the same. They have no dependence on our choice of d-q axis alignment. For problem 3-16, “line start” means the machine is at rest, with all initial conditions (flux and speed) set to 0, and the machine is suddenly connected to the line voltageban Vy (hag, + ng) = > ber Yt te LY tag + Le Yih ing = 0 |) Say eq lo") ond ingle) = 0 felt) ingle’) C = hq (t)= Taq lor) fr +2 0% + ae ing both sides of (1) rom t=0- to f= bm Cinq (93 ~ tag (0°)) + La (teglad - iqlo-)) = 0 ben isq (07) + Le ingle) = © ing (t) = eA, fy (or) for +2 OF | Tal 7 ot te)yap ies er Chapter Je A\\ the problems in ts Chapter Can be Solved bg Yedi-fyiwss dune Stmulshmn fle, A trie Chapter that ore Vrebded in cue secomParsing Website, provided leg Hae bublisher.Ans 6-1 ‘The graphs for ky = 0.75, ky = 1 and k, = 1.5 are given in Fig. 1, Fig. 2 and Fig. 3 respectively. a oss i pe ee ul oas| { nee ose ipeees? | Clots osaniMARisgeta © c nencsqsmcellme? sine) sine ne @) (b), () 0a u ous 1 —_ Jo Hoos cas oa| % eo 2003 8 oo os ot is 2 ne) uty (a) (e) Figure 1: Simulation results for k, = 0.75 (a) iat dynamics (b) ig dynamics (c) Tem dynamics (€) Barr dynamics (¢) waa dynamics Ans 6-2 ‘The steady values of required parameters for diferent values of fare given in table. 1, ‘Table 1: Induction machine parameters Parameter | ky =0.75 | kr=0.75| fr = 0.15 ie TI731 i 0.7493 a 0.8798 1 1.1240 Ee 1.0321 i 0.9422 Ge, | 0.1495 red |_O rad _| -0.1824 rad‘ : ! \ 0s ae ea 1 re ed 1 1s tie son sme @®) (b) 1o} 1 4 os is sd ko 5 | si (@) Figure 2: Simulation results for ky = (€) Ber dynamics (e) wea dynamics 13 1 ‘ a 1 2 wt ———} os os a Poets: a 1s 2 east ee 1905 Z 1s 2 sine sine () sine) ® ) © ° 6 aul u goa jeu 03 \ as os recs meieisees | omens time) tine () @ ) Figure 8: Simulation results for k= 1.5 (a) iga dynamics (b) fag dynamics (¢) Ten dynamics (€) Berr dynamics (e) waa dynamicsQtr A DFIG is operating in the motoring mode at a sub-synchronous speed at a leading power factor (supplying Q, to the grid). Calculate the signs of various quantities in this mode of operation. Solution Oy = Oy =* Pee, alg = Orhatig = Q,= Vala = Ogi = = we P.=V gh = SOA = Q, =Vpiy = Sy agg = (since i, Yq = SOyay = —sin(@, v0) -£ cos(Oaa +) Sinan +5) (* | a %, c0s(Ouy +2) =sin(Oz4 +3)Q72 ‘A DFIG is operating in the generator mode at a sub-synchronous speed at a leading power factor (supplying Q, to the grid). Calculate the signs of various quantities in this mode of operation, Solution ay = ag Pao so ote iy = such that iy > iy Q, = Voghng = Gag Anting = Vy =O Vg = ayy = +(b) mR, BLyy magdeg wapdoa Lie med Pm © TPR, nPLagmisgred WaAded Lip Re @ Figure 1: (a) D diagram, stator side (b) Q diagram, stator side (c) D diagram, rotor side (@) Q diagram, rotor side3-1 Vie 60 We = 963.362 0.94 \ Vizo ~ xWeory Ws A = 5563.36 20.99 X 700 + y F004 % = S63.36 4 0.44 x 700 4 y 700 cos (WK) = 563.36 cos (0-99) y 300 sin(™) = 563.36 sin (0.94) y= 0.3959 Bt We ito * Wweiso Y X 700 cos (120) + y coslIb0) 00 = 563.36 cos (/ 75, x Welto + y W4l6o = 563.382 145 X 700 sin ding y sin (160) 700 = 563.36 gm (195 0.075 = 6,763 0.436 0.038 & a ; ee 20 eee erence on ATs I G4 Ja6-4 xX ¥ @ frm 6-1 6.9303 ee 6.674 xtyr %= 6.163 ye YH = 6.39884 C62 = 6.4372 Hy = 6.03%$3 Seelr 2 Ten Secke $ we + + ve : : Ws . - v - + Seder 3 i Pe Sector 6 le 2 + Yoo vo. Sector 1 RM= Re G-at) + at (KM - RR) Zero veclr > Vel) =6 fi f pen * 6S ar Rt loops )( 1h FFL €.326n) = “ BRS Xs eas agua " Tem = 2 bm, as shown aleve O.00ISZ Os, (Very small) S, sin (65-6,) coe = xX, (tat) & 6,() = O.(t-at) Tem 2 PA At XsX gm (6,- wet) "Tem is decreasing as rotor flux vector catches upV4 if the speed ts never fequred to reverse , we ch net peed the basic vectors thet move Xs in 9 clockwise directron (assuming positve speed rz counler clockwise ). for exomple , in secter 1 Ke (tat) Ve ond Ve con be ued te increase torque and contro! Flux ond Yo con be used te decrease Herqve On he ee :lo-3 Tem» 26 (Yad tag - eq Ped) Call mochnes) Asd = bed fad + band ted + bind Ard sorbent pole J dq = Log hig + beg ing Tem= 0% ( Led iad eq + Luebied sq + Lad ipd eg ~ Leg isq fod ~ long tog Pod 2 boy Cis fea) tg) © laadaq) Pad fq bog og DJ? )Wel no sobvrebon 2 i charocternste iso straight Ine | : sa) Eaergy Comersion Factor = Wem / (ve + Wem) Ws Of dy £ dar du} | ce : We = ¥% Yat I, Wen =, 4 rod, 4 da B Ereray Conversion Frekr = % (da t,- It) /( rer Z-% dui) fie Of dur = dal o£ KOwL- uD) /(dat- 4D) £4 #2 deli BOLE Lie) = »/z, > — Sal |_ 9, L— 62 L- Gu 3a 7H, 3, t Ty 1s nh G