Power Electronics 2 Eletrical Drives

POWER ELECTRONICS
EPE 550
CIRCUITS, DEVICES, AND APPLICATIONS
ELECTRICAL DRIVES:
An Application of Power Electronics
Eng.Mohammed Alsumady
CONTENTS
Power Electronic Systems
Modern Electrical Drive Systems
Power Electronic Converters in Electrical Drives

:: DC and AC Drives
Modeling and Control of Electrical Drives

:: Current controlled Converters
:: Modeling of Power Converters
:: Scalar control of IM
What is Power Electronics ?
A field of Electrical Engineering that deals with the application of

power semiconductor devices for the control and conversion of
electric power
sensors
Input
Source Power Electronics Load
- AC Converters
- DC Output
- unregulated - AC
- DC
POWER ELECTRONIC
CONVERTERS – the
heart of power in a power
Reference Controller electronics system
Why Power Electronics ?
Power semiconductor devices Power switches
isw
ON or OFF
+ vsw −
=0
isw = 0
Ploss = vsw× isw = 0
+ vsw −
Losses ideally ZERO !
K K K
- - -
G G
Vak Vak Vak
+ + +
ia ia ia
A A A
D
C
iD
+ ic
+
VDS G
G
VCE
-
-
S
E
Passive elements High frequency

+ VL - transformer
iL
+ +
Inductor
V1 V2
+ VC - - -
iC
sensors
Input
Source Power Electronics IDEALLY LOSSLESS
Load !
- AC Converters
- DC Output
- unregulated - AC
- DC
Reference Controller
Other factors:
• Improvements in power semiconductors fabrication
• Power Integrated Module (PIM),
Intelligent Power Modules (IPM)
• Decline cost in power semiconductor
• Advancement in semiconductor fabrication

• ASICs • FPGA • DSPs
• Faster and cheaper to implement

complex algorithm
Advancement in semiconductor fabrication
• A field-programmable gate array (FPGA) is an integrated circuit designed to be configured
by the customer or designer after manufacturing—hence "field-programmable". The FPGA
configuration is generally specified using a hardware description language (HDL), similar to
that used for an application-specific integrated circuit (ASIC) circuit diagrams were
previously used to specify the configuration, as they were for ASICs, but this is increasingly
rare). FPGAs can be used to implement any logical function that an ASIC could perform. The
ability to update the functionality after shipping, partial re-configuration of the portion of the
design and the low non-recurring engineering costs relative to an ASIC design
(notwithstanding the generally higher unit cost), offer advantages for many applications.
• FPGAs contain programmable logic components called "logic blocks", and a hierarchy of
reconfigurable interconnects that allow the blocks to be "wired together"—somewhat like
many (changeable) logic gates that can be inter-wired in (many) different configurations.
Logic blocks can be configured to perform complex combinational functions, or merely
simple logic gates like AND and XOR. In most FPGAs, the logic blocks also include memory
elements, which may be simple flip-flops or more complete blocks of memory.
• In addition to digital functions, some FPGAs have analog features. The most common analog
feature is programmable slew rate and drive strength on each output pin, allowing the
engineer to set slow rates on lightly loaded pins that would otherwise ring unacceptably, and
to set stronger, faster rates on heavily loaded pins on high-speed channels that would
otherwise run too slow. Another relatively common analog feature is differential comparators
on input pins designed to be connected to differential signaling channels.
A field-programmable gate array (FPGA)
• The FPGA industry sprouted from programmable read-only

memory (PROM) and programmable logic devices (PLDs).
PROMs and PLDs both had the option of being programmed
in batches in a factory or in the field (field programmable),
however programmable logic was hard-wired between logic
gates.
• A recent trend has been to take the coarse-grained architectural
approach a step further by combining the logic blocks and
interconnects of traditional FPGAs with embedded
microprocessors and related peripherals to form a complete
"system on a programmable chip“.
A field-programmable gate array (FPGA)
Some Applications of Power Electronics :
Typically used in systems requiring efficient control and conversion of
electric energy:
Domestic and Commercial Applications

Industrial Applications
Telecommunications
Transportation
Generation, Transmission and Distribution of electrical energy
Power rating of < 1 W (portable equipment)

Tens or hundreds Watts (Power supplies for computers /office equipment)
kW to MW : drives
Hundreds of MW in DC transmission system (HVDC)
• About 50% of electrical energy used for drives
• Can be either used for fixed speed or variable speed

• 75% - constant speed, 25% variable speed (expanding)
• Variable speed drives typically used PEC to supply the motors
DC motors (brushed) AC motors

SRM - IM
BLDC - PMSM
• IM: Induction Motor
• PMSM: Permanent Magnet Synchronous Motor
• SRM: Switched Reluctance Motor
• BLDC: Brushless DC Motor
Permanent Magnet Synchronous Motor
 The Permanent Magnet Synchronous motor is a rotating electric machine
where the stator is a classic three phase stator like that of an induction
motor and the rotor has permanent magnets. In this respect, the PM
Synchronous motor is equivalent to an induction motor, except the rotor
magnetic field in case of PMSM is produced by permanent magnets. The
use of a permanent magnet to generate a substantial air gap magnetic flux
makes it possible to design highly efficient PM motors. Medium
construction complexity, multiple fields, delicate magnets
• High reliability (no brush wear), even at very high achievable speeds
• High efficiency
• Low EMI
• Driven by multi-phase Inverter controllers
• Sensorless speed control possible
• Higher total system cost than for DC motors
• Smooth rotation - without torque ripple
• Appropriate for position control
Permanent Magnet Synchronous Motor
Switched Reluctance (SR) Motor
 Switched reluctance (SR) motor is a brushless AC motor. It has simple
mechanical construction and does not require permanent magnet for its
operation. The stator and rotor in a SR motor have salient poles. The
number of poles presence on the stator depends on the number of phases
the motor is designed to operate in. Normally, two stator poles at opposite
ends are configured to form one phase. In this configuration, a 3-phase SR
motor has 6 stator poles. The number of rotor poles are chosen to be
different to the number of stator poles. A 3-phase SR motor with 6 stator
poles and 4 rotor poles is also known as a 6/4 3-Phase SR motor.
 SR motor has the phase winding on its stator only. Concentrated windings
are used. The windings are inserted onto the stator poles and connected in
series to form one phase of the motor. In a 3-Phase SR motor, there are 3
pairs of concentrated windings and each pair of the winding is connected in
series to form each phase respectively.
Future Electric Motors Build will be SR Motors
• The small-size SR motor was developed by Akira Chiba, professor at the
Department of Electrical Engineering, Faculty of Science & Technology,
Tokyo University of Science.
• The prototyped SR motor has the same size as the 50kW synchronous
motor equipped in the second-generation Toyota Prius. Currently all
produced Electric cars are equipped with a synchronous motor whose
rotor is embedded with a permanent magnet.
• But as the permanent magnets are getting more and more pricey (the price
has doubled or tripled) because of higher demand, the future of SR
Motors is now imminent.
• A four-phase 8/6 switched-reluctance motor is shown in cross section. In
order to produce continuous shaft rotation, each of the four stator phases is
energized and then de-energized in succession at specific positions of the
rotor as illustrated.
Future electric motors build will be SR Motors.
Brushless DC Motor
• A BLDC motor has permanent magnets which rotate, and a fixed armature,
eliminating the problems of connecting current to the moving armature. An
electronic controller replaces the brush commutator assembly of the
brushed DC motor, which continually switches the phase to the windings to
keep the motor turning. The controller performs similar timed power
distribution by using a solid-state circuit rather than the brush commutator
system.
• BLDC motors offer several advantages over brushed DC motors, including
more torque per weight, more torque per watt (increased efficiency),
increased reliability, reduced noise, longer lifetime (no brush and
commutator erosion), elimination of ionizing sparks from the commutator,
and overall reduction of electromagnetic interference (EMI). With no
windings on the rotor, they are not subjected to centrifugal forces, and
because the windings are supported by the housing, they can be cooled by
conduction, requiring no airflow inside the motor for cooling. This in turn
means that the motor's internals can be entirely enclosed and protected
from dirt or other foreign matter.
BLDC: Brushless DC Motor
Classic Electrical Drive for Variable Speed Application :
• Bulky
• Inefficient
• inflexible
Typical Modern Electric Drive Systems
Power Electronic Converters Electric Motor

Electric Energy Electric Energy Electric Mechanical
- Unregulated - - Regulated - Energy Energy
POWER IN Power
Moto Load
Electronic r
Converters
feedback
Reference
Controller
Example on Variable Speed Drives (VSD) application
Constant speed Variable Speed Drives
valve
Supply
motor pump
Power out
Power
In
Power loss
Mainly in valve
Example on Variable Speed Drives (VSD) application
valve
Supply Supply
motor pump motor
PEC pump
Power out
Power out
Power
Power
In
In
Power loss
Power loss
Mainly in valve
Example on VSD application
valve
Supply Supply
motor pump motor
PEC pump
Power out
Power out
Power
Power
In
In
Power loss
Power loss
Mainly in valve
Example on VSD application
Electric motor consumes more than half of electrical energy in the US
Fixed speed Variable speed
Improvements in energy utilization in electric motors give large impact

to the overall energy consumption
HOW ?
Replacing fixed speed drives with variable speed drives
Using the high efficiency motors
Improves the existing power converter–based drive systems

Overview of AC and DC drives
DC drives: Electrical drives that use DC motors as the prime mover

Regular maintenance, heavy, expensive, speed limit
Easy control, decouple control of torque and flux
AC drives: Electrical drives that use AC motors as the prime mover

Less maintenance, light, less expensive, high speed
Coupling between torque and flux – variable spatial angle

between rotor and stator flux
Before semiconductor devices were introduced (<1950)

• AC motors for fixed speed applications
• DC motors for variable speed applications
After semiconductor devices were introduced (1960s)

• Variable frequency sources available – AC motors in variable speed
applications
• Coupling between flux and torque control
• Application limited to medium performance applications – fans,
blowers, compressors – scalar control
• High performance applications dominated by DC motors – tractions,

elevators, servos, etc
After vector control drives were introduced (1980s)

• AC motors used in high performance applications – elevators,
tractions, servos
• AC motors favorable than DC motors – however control is
complex hence expensive
• Cost of microprocessor/semiconductors decreasing –predicted
30 years ago AC motors would take over DC motors
Extracted from Boldea & Nasar

Power Electronic Converters in Electrical Drive Systems
Converters for Motor Drives
(some possible configurations)
DC Drives AC Drives
AC Source DC Source AC Source DC Source
DC-AC-DC DC-DC
AC-DC AC-DC-DC AC-DC-AC AC-AC DC-AC DC-DC-AC
Const. Variable NCC FCC

DC DC
Power Electronic Converters in ED Systems
Converters for Motor Drives
Configurations of Power Electronic Converters depend on:
Sources available
Type of Motors
Drive Performance - applications

- Braking
- Response
- Ratings
DC DRIVES
Available AC source to control DC motor (brushed)
AC-DC AC-DC-DC
Uncontrolled Rectifier
Single-phase Control
Control
Three-phase
Controlled Rectifier DC-DC Switched mode
Single-phase 1-quadrant, 2-quadrant
Three-phase 4-quadrant
DC DRIVES
AC-DC
400
200
+ 2Vm
Vo  cos 
-200

-400
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
50Hz Vo 10
1-phase Average voltage

- over 10ms 5
0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
500
50Hz
+ -500
3-phase 0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
3VL-L,m
Vo Vo  cos 

30
20
- Average voltage
over 3.33 ms 10
0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
DC DRIVES
AC-DC
2Vm

+ 2Vm
Vo  cos 

50Hz Vo 90o 180o
1-phase Average voltage
- over 10ms
2 Vm
-

3VL-L,m

50Hz
+
3-phase
3VL-L,m
Vo Vo  cos 
 90o 180o
- Average voltage
over 3.33 ms 3VL- L,m
-

DC DRIVES
AC-DC
ia
+
Vt
3-phase
Vt Q2 Q1
supply
- Q3 Q4 Ia
- Operation in quadrant 1 and 4 only

DC DRIVES
AC-DC
+
3-
phase 3-phase
Vt supply
supply
-
Q2 Q1
Q3 Q4
T
DC DRIVES
AC-DC
F1 R1
3-phase
supply
+ Va -
R2 F2
Q2 Q1
Q3 Q4
T
DC DRIVES
AC-DC
Cascade control structure with armature reversal (4-quadrant):
iD
ref + Speed
iD,ref + Current Firing
controller Controller Circuit
_
_
iD,ref
Armature
iD, reversal
DC DRIVES
AC-DC-DC
Uncontrolled control
rectifier
Switch Mode DC-DC
1-Quadrant
2-Quadrant
4-Quadrant
DC DRIVES
AC-DC-DC
control
DC DRIVES
AC-DC-DC DC-DC: Two-quadrant Converter
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
- D2
T2
Va
T1 conducts  va = Vdc
DC DRIVES
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
- D2
T2
Va
D2 conducts  va = 0 T1 conducts  va = Vdc
Va Eb
Quadrant 1 The average voltage is made larger than the back emf
DC DRIVES
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
- D2
T2
Va
D1 conducts  va = Vdc
DC DRIVES
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
- D2
T2
Va
T2 conducts  va = 0 D1 conducts  va = Vdc
Va Eb
Quadrant 2 The average voltage is made smallerr than the back emf, thus
forcing the current to flow in the reverse direction
DC DRIVES
vc
2vtri
+
vA Vdc
-
+
vc
DC DRIVES
AC-DC-DC DC-DC: Four-quadrant Converter
leg A leg B
+ D1 D3
Q1 Q3
+ Va -
Vdc
- D4 D2
Q4 Q2
Positive current
va = Vdc when Q1 and Q2 are ON

DC DRIVES
leg A leg B
+ D1 D3
Q1 Q3
+ Va -
Vdc
- D4 D2
Q4 Q2
Positive current
va = Vdc when Q1 and Q2 are ON

va = -Vdc when D3 and D4 are ON
va = 0 when current freewheels through Q and D
DC DRIVES
leg A leg B
+ D1 D3
Q1 Q3
+ Va -
Vdc
- D4 D2
Q4 Q2
Positive current Negative current
va = Vdc when Q1 and Q2 are ON va = Vdc when D1 and D2 are ON

va = -Vdc when D3 and D4 are ON
va = 0 when current freewheels through Q and D
DC DRIVES
leg A leg B
+ D1 D3
Q1 Q3
+ Va -
Vdc
- D4 D2
Q4 Q2
Positive current Negative current
va = Vdc when Q1 and Q2 are ON va = Vdc when D1 and D2 are ON

va = -Vdc when D3 and D4 are ON va = -Vdc when Q3 and Q4 are ON
va = 0 when current freewheels through Q and D va = 0 when current freewheels through Q and D
DC DRIVES
Bipolar switching scheme – output
AC-DC-DC swings between VDC and -VDC
vc
2vtri
Vdc
Vdc
+ + vA
vA vB 0
- - Vdc
vB
0
vc Vdc
+ vAB
_ -Vdc
DC DRIVES
Unipolar switching scheme – output
AC-DC-DC swings between Vdc and -Vdc
vc
Vtri
-vc
Vdc
+ + Vdc
vA vB
vA
-
0
-
Vdc
vc vB
0
+
Vdc
_
vAB
0
-vc
DC DRIVES
Armature
200
current 200
150 150 Armature

Vdc 100 Vdc 100
current
50 50
0 0
-50 -50
Vdc -100 -100
-150 -150
-200 -200
0.04 0.0405 0.041 0.0415 0.042 0.0425 0.043 0.0435 0.044 0.0445 0.045 0.04 0.0405 0.041 0.0415 0.042 0.0425 0.043 0.0435 0.044 0.0445 0.045
Bipolar switching scheme Unipolar switching scheme
• Current ripple in unipolar is smaller

• Output frequency in unipolar is effectively doubled
AC DRIVES
AC-DC-AC
control
The common PWM technique: CB-SPWM with ZSS

SVPWM
• Control the torque, speed or position
• Cascade control structure
Example of current control in cascade control structure
* * T*
+ + +
- - -
position speed current
controller controller controller converter Motor
kT


1/s
Current controlled converters in DC Drives - Hysteresis-based
ia
Vdc
+
iref
− Va
-
va
iref + ierr q
_ q
• High bandwidth, simple implementation,

insensitive to parameter variations
ierr
• Variable switching frequency – depending on
operating conditions
Current controlled converters in AC Drives - Hysteresis-based
i*a +
Converter
i*b +
i*c +
• For isolated neutral load, ia + ib + ic = 0

control is not totally independent 3-phase
• Instantaneous error for isolated neutral load can
AC Motor
reach double the band
iq
is
Dh Dh Dh Dh
id
• For isolated neutral load, ia + ib + ic = 0

control is not totally independent
• Instantaneous error for isolated neutral load can
reach double the band
• Dh = 0.3 A • Vdc = 600V
Continuous • Sinusoidal reference current, 30Hz • 10W,50mH load
powergui
Scope
iaref
To Workspace 1 g
+
i
A +
-
DC Voltage Source B Series RLC Branch Current
3 Measurement 3
-
c1 p1
C
i
+
c2 p2 Universal Bridge 1 -
p3 Series RLC BranchCurrent

1 Measurement 1
c3
ina p4 i
+
-
Sine Wave
inb p5 Series RLC BranchCurrent
2 Measurement 2
inc p6
Subsystem
Sine Wave 1
Sine Wave 2
Actual and reference currents Current error
0.5
10
0.4
0.3
5
0.2
10
0.1
0 0
9
-0.1
-0.2
-5 8
-0.3
7 -0.4
-10
-0.5
0.005 0.01 6
0.015 0.02 0.025 0.03
-0.5 -0.4 -0.3 -0.2 -0.1 0 0.1 0.2 0.3 0.4 0.5
4 6 8 10 12 14 16
-3
x 10
Actual current locus Current error

10 0.5
5 0 0.6A
-0.5
0
0.04 0.042 0.044 0.046 0.048 0.05 0.052 0.054 0.056 0.058 0.06
-5
0.5
-10
-10 -5 0 5 10 0 0.6A
-0.5
0.04 0.042 0.044 0.046 0.048 0.05 0.052 0.054 0.056 0.058 0.06
0.5
0 0.6A
-0.5
0.04 0.042 0.044 0.046 0.048 0.05 0.052 0.054 0.056 0.058 0.06
Current controlled converters in DC Drives - PI-based
Vdc
iref + vc vPulse
tri width
PI vc modulator
qqq
-
i*a +
PI PWM
Converter
i*b +
PI PWM
i*c + PWM
PI
• Sinusoidal PWM
Motor
• Interactions between phases  only require 2 controllers
• Tracking error
•Perform the 3-phase to 2-phase transformation

- only two controllers (instead of 3) are used
•Perform the control in synchronous frame

- the current will appear as DC
•Interactions between phases  only require 2 controllers

•Tracking error
Current controlled converters in AC Drives - PI-based
i*a +
PI PWM
Converter
i*b +
PI PWM
i*c + PWM
PI
Motor
i*a
PI
SVM Converter
i*b
3-2 2-3
PI
i*c
3-2
Motor
va*
id* + PI
controller
- id
vb*
SVM
dqabc
or SPWM IM
iq* + VSI
PI vc*
- iq controller
s
Synch speed
s
estimator
abcdq
Stationary - ia Stationary - id
4 4
2 3
0 2
-2 1
-4 0
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01 0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
4 Rotating - ia Rotating - id
4
2 3
0 2
-2 1
-4 0
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01 0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
Modeling of the Power Converters: DC drives with Controlled rectifier
+
vc firing  controlled
circuit rectifier Va
vc(s) va(s)
? DC motor
The relation between vc and va is determined by the firing circuit
It is desirable to have a linear relation between vc and va

Cosine-wave crossing control
Vm
Input voltage
0  2 3 4
vc vs
Cosine wave compared with vc
Results of comparison trigger SCRs
Output voltage
Cosine-wave crossing control
cos(t)= vc
Vscos()
Vm
v 
0  2 3 4   cos-1  c 
 vs 
vc vs

2Vm v c  -1  v c  
Va  coscos
   
 vs  
 vs 

A linear relation between vc and Va

Va is the average voltage over one period of the waveform

- sampled data system
Delays depending on when the control signal changes – normally taken

as half of sampling period
Va is the average voltage over one period of the waveform

- sampled data system
Delays depending on when the control signal changes – normally taken

as half of sampling period
T
- s
G H (s)  Ke 2
Single phase, 50Hz

vc(s) Va(s)
2Vm
K T=10ms
Vs
Three phase, 50Hz

3VL-L,m
K T=3.33ms
Vs
Simplified if control bandwidth is reduced to much lower than

the sampling frequency
+
iref current vc firing  controlled
controller Va
circuit rectifier
–
• To control the current – current-controlled converter

• Torque can be controlled
• Only operates in Q1 and Q4 (single converter topology)
• Input 3-phase, 240V, 50Hz • Closed loop current control

with PI controller
Scope 3
+
- v Continuous
Voltage Measurement4
i powergui
+
-
Scope 2
AC Voltage Source Current Measurement 1
Step
s
AC Voltage Source 1 +
g -
+ v
A Controlled Voltage Source
Series RLC Branch
AC Voltage Source 2 B To Workspace
+ - i
C
- v - + ia
Voltage Measurement2 Universal Bridge Current Measurement

To Workspace1
+ +
- v - v
alpha_deg
Voltage Measurement Voltage Measurement3
AB Mux Scope
BC pulses
+
- v
CA
Block
Voltage Measurement1
Synchronized
Mux
6-Pulse Generator
Scope 1 ir
To Workspace2
PID acos -K -
Signal
PID Controller Saturation
1
Generator
Constant 1
• Input 3-phase, 240V, 50Hz • Closed loop current control

with PI controller
1000
1000
500
500
0
Voltage
0
-500 -500
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.22 0.23 0.24 0.25 0.26 0.27 0.28
15 15
10
10
5
Current
5
0
0.22 0.23 0.24 0.25 0.26 0.27 0.28
0
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
Modeling of the Power Converters: DC drives with SM Converters
Vdc
Switching signals obtained by comparing
control signal with triangular wave +
Va
vtri
q
vc
We want to establish a relation between vc and Va
AVERAGE voltage
vc(s) Va(s)
? DC motor
Ttri
1 Vc > Vtri
q
vc 0 Vc < Vtri
1 t  Ttri
d
Ttri  t
q dt
1
t on

0 Ttri
ton
Vdc
1 dTtri
Va   Vdc dt  dVdc
Ttri 0
0
d
0.5
vc
-Vtri
Vtri
-Vtri vc
For vc = -Vtri  d = 0
d
0.5
vc
-Vtri -Vtri
Vtri
vc
Vtri
For vc = 0  d = 0.5
For vc = Vtri  d=1
d
0.5
vc
-Vtri -Vtri
Vtri vc
1
d  0.5  vc
2Vtri
Vtri
For vc = 0  d = 0.5
For vc = Vtri  d=1
Thus relation between vc and Va is obtained as:
Vdc
Va  0.5Vdc  vc
2Vtri
Introducing perturbation in vc and Va and separating DC and AC components:
Vdc
DC: Va  0.5Vdc  vc
2Vtri
~ Vdc ~
AC: va  vc
2Vtri
Taking Laplace Transform on the AC, the transfer function is obtained as:
v a ( s) Vdc

v c ( s) 2Vtri
vc(s) Vdc va(s)

DC motor
2 Vtri
Bipolar switching scheme Vdc
vc
2vtri
-Vdc
q
vtri
+
Vdc
Vdc vA
+ VAB -
0
−
vc Vdc
vB
0
q
Vdc
vAB
v v
d A  0.5  c dB  1 - d A  0.5 - c -Vdc
2Vtri 2Vtri
Vdc Vdc Vdc

VA  0.5Vdc  vc VB  0.5Vdc - vc VA - VB  VAB  vc
2Vtri 2Vtri Vtri
Bipolar switching scheme
v a ( s) Vdc

v c ( s) Vtri
vc(s) Vdc va(s)

DC motor
Vtri
Vdc
Unipolar switching scheme vc
Leg b
Vtri
+ -vc
vtri Vdc
qa
vc −
vA
Leg a
vtri
-vc qb vB
vc - vc vAB
d A  0.5  dB  0.5 
2Vtri 2Vtri
Vdc Vdc Vdc

VA  0.5Vdc  vc VB  0.5Vdc - vc VA - VB  VAB  vc
2Vtri 2Vtri Vtri
The same average value we’ve seen for bipolar !

Unipolar switching scheme
v a ( s) Vdc

v c ( s) Vtri
vc(s) Vdc va(s)

DC motor
Vtri
DC motor – separately excited or permanent magnet
di a d m
v t  ia R a  L a  ea Te  Tl  J
dt dt
Te = kt ia e e = kt 
Extract the dc and ac components by introducing small
perturbations in Vt, ia, ea, Te, TL and m
ac components dc components
~
~ d i
v t  ia R a  L a a  ~
~ ea Vt  Ia R a  Ea
dt
~ ~
Te  k E ( ia ) Te  k E Ia
~ ~)
ee  k E ( Ee  k E 
~)
d(
~ ~ ~
Te  TL  B  J Te  TL  B()
dt
Perform Laplace Transformation on ac components
~
~ d i Vt(s) = Ia(s)Ra + LasIa + Ea(s)
v t  ia R a  L a a  ~
~ ea
dt
~ ~ Te(s) = kEIa(s)
Te  k E ( ia )
~ ~)
ee  k E ( Ea(s) = kE(s)
~ ~ ~)
d(
~
Te  TL  B  J Te(s) = TL(s) + B(s) + sJ(s)
dt
Tl (s )
-
Va (s ) Ia (s ) Te (s ) (s )
1 1
kT
+ R a  sL a +
B  sJ
-
kE
q
vtri
Torque +
controller
Tc +
Vdc
–
−
q kt
DC motor
Tl (s )
Converter
Te (s ) Torque Vdc Va (s ) 1 Ia (s ) Te (s ) - 1 (s )
kT
controller R a  sL a B  sJ
+ Vtri,pe ak + +
- -
kE
Closed-loop speed control – an example

Design procedure in cascade control structure
• Inner loop (current or torque loop) the fastest – largest

bandwidth
• The outer most loop (position loop) the slowest –

smallest bandwidth
• Design starts from torque loop proceed towards outer

loops

OBJECTIVES:
• Fast response – large bandwidth
• Minimum overshoot
good phase margin (>65o) BODE PLOTS
• Zero steady state error – very large DC gain
METHOD
• Obtain linear small signal model
• Design controllers based on linear small signal model
• Perform large signal simulation for controllers verification

Ra = 2 W La = 5.2 mH
B = 1 x10–4 kg.m2/sec J = 152 x 10–6 kg.m2
ke = 0.1 V/(rad/s) kt = 0.1

Nm/A
Vd = 60 V Vtri = 5 V
fs = 33
kHz
• PI controllers • Switching signals from comparison of
vc and triangular waveform
Torque controller design

Open-loop gain
Bode Diagram
From: Input Point To: Output Point
150
kpT= 90
100
Magnitude (dB)
compensated
50 kiT= 18000
-50
90
45
Phase (deg)
compensated
-45
-90
-2 -1 0 1 2 3 4 5
10 10 10 10 10 10 10 10
Frequency (rad/sec)
Speed controller design
* + Speed T* 1 T 1 
controller
– B  sJ
Torque loop
Speed controller design

Open-loop gain
Bode Diagram
From: Input Point To: Output Point
150
kps= 0.2
100
Magnitude (dB)
50
kis= 0.14
compensated
-50
0
-45
Phase (deg)
-90
-135 compensated
-180
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequency (Hz)
Large Signal Simulation results
40
20
0
Speed -20
-40
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
-1
-2
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
Torque
Modeling of the Power Converters: IM drives
INDUCTION MOTOR DRIVES
Scalar Control Vector Control
Const. V/Hz is=f(r) FOC DTC
Rotor Flux Stator Flux Circular Hexagon DTC

Flux Flux SVM
Control of induction machine based on steady-state model (per phase SS

equivalent circuit):
Is Lls Llr’
Rs Ir ’
+
+
Lm
Vs Rr’/s
Eag
– Im –
Te
Pull out
Torque Intersection point
(Tmax) (Te=TL) determines the
Te
steady –state speed
Trated TL
sm rotors
rated r
s
Given a load T– characteristic, the steady-state speed can be

changed by altering the T– of the motor:
Variable voltage (amplitude), variable

Pole changing
frequency (Constant V/Hz)
Synchronous speed change with no.
Using power electronics converter
of poles
Operated at low slip frequency
Discrete step change in speed
Variable voltage (amplitude), frequency

fixed
E.g. using transformer or triac
Slip becomes high as voltage reduced –
low efficiency
Variable voltage, fixed frequency

e.g. 3–phase squirrel cage IM
600
V = 460 V Rs= 0.25 W
500 Rr=0.2 W Lr = Ls =
0.5/(2*pi*50)
400
Lm=30/(2*pi*50)
Torque
300
f = 50Hz p=4
200 Lower speed  slip

higher
100
Low efficiency at low
speed
0
0 20 40 60 80 100 120 140 160
w (rad/s)
Constant V/Hz
To maintain V/Hz constant

Approximates constant air-gap flux when Eag is large
+ +
V Eag Eag = k f ag
_ _
 ag = constant 
E ag

V
f f
Speed is adjusted by varying f - maintaining V/f constant to avoid flux

saturation
Constant V/Hz
900
800
50Hz
700
30Hz
600
500
Torque
10Hz
400
300
200
100
0
0 20 40 60 80 100 120 140 160
Constant V/Hz
Vs
Vrated
frated f
Constant V/Hz
Rectifier
3-phase VSI
supply
C IM
f
Ramp Pulse
V Width
s* +
Modulator
Constant V/Hz
In1 Out 1
Subsystem
isd
Va
isq
Out1
ird
speed
0.41147 In 1 Out2 Vb
Vd
Scope
Step Slider Rate Limiter irq
Out3
Gain 1 Vq
Vc
Constant V /Hz Te
speed
Induction Machine
To Workspace 1
torque
To Workspace
Simulink blocks for Constant V/Hz Control

Constant V/Hz
200
100
Speed
0
-100
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
400
200
0
Torque
-200
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
200
100
0 Stator phase current

-100
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Problems with open-loop constant V/f
At low speed, voltage drop across stator impedance is significant

compared to airgap voltage - poor torque capability at low speed
Solution:
1. Boost voltage at low speed
2. Maintain Im constant – constant ag
700
600 50Hz
500 A low speed, flux falls below the

rated value
400
30Hz
Torque
300
10Hz
200
100
0
0 20 40 60 80 100 120 140 160
With compensation (Is,ratedRs)

700
• Torque deteriorate at low

600 frequency – hence
compensation commonly
500 performed at low frequency
400
• In order to truly compensate
Torque
need to measure stator

300
current – seldom performed
200
100
0
0 20 40 60 80 100 120 140 160
With voltage boost at low frequency
Vrated
Linear offset
Non-linear offset – varies with Is

Boost
frated
Problems with open-loop constant V/f
Poor speed regulation
Solution:
1. Compesate slip
2. Closed-loop control
Rectifier
3-phase VSI
supply
C IM
f
Ramp Pulse
+ Width
s* + V
Modulator
+ +
Vboost
Slip speed
calculator
Vdc Idc
A better solution : maintain ag constant. How?
ag, constant → Eag/f , constant → Im, constant (rated)
Controlled to maintain Im at rated

Is Lls
Rs Llr’ Ir ’
+ +
Lm Rr’/s
Vs Eag
maintain at rated
Im
– –
Constant air-gap flux
900
800
50Hz
700
30Hz
600
500
Torque
10Hz
400
300
200
100
0
0 20 40 60 80 100 120 140 160
Rr
j L lr    
Im  s Is jslip r Tr  1
R
j (L lr  L m )  r Is   1  r  Im ,
s
jslipTr  1
Rr
j L r 
Im  s Is
   R • Current is controlled using current-
j  r L r  r controlled VSI
 1  r  s
• Dependent on rotor parameters –

jslipTr  1 sensitive to parameter variation
Im  Is ,
  
jslip  r Tr  1
 1  r 
3-phase VSI
Rectifier
supply
C IM
Current
controller
* + slip |Is|
PI
-
+
s
r
+
THANK YOU

Power Electronics 2 Eletrical Drives

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Power Electronics 2 Eletrical Drives

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POWER ELECTRONICS

Modern Electrical Drive Systems

Power Electronic Converters in Electrical Drives

Modeling and Control of Electrical Drives

What is Power Electronics ?

A field of Electrical Engineering that deals with the application of

Why Power Electronics ?

Power semiconductor devices Power switches

Why Power Electronics ?

Power semiconductor devices Power switches

Why Power Electronics ?

Power semiconductor devices Power switches

Why Power Electronics ?

Passive elements High frequency

Why Power Electronics ?

Why Power Electronics ?

• Advancement in semiconductor fabrication

• Faster and cheaper to implement

• The FPGA industry sprouted from programmable read-only

Domestic and Commercial Applications

Power rating of < 1 W (portable equipment)

• About 50% of electrical energy used for drives

• Can be either used for fixed speed or variable speed

• Variable speed drives typically used PEC to supply the motors

DC motors (brushed) AC motors

Power Electronic Converters Electric Motor

Electric motor consumes more than half of electrical energy in the US

Fixed speed Variable speed

Improvements in energy utilization in electric motors give large impact

Improves the existing power converter–based drive systems

DC drives: Electrical drives that use DC motors as the prime mover

AC drives: Electrical drives that use AC motors as the prime mover

Coupling between torque and flux – variable spatial angle

Before semiconductor devices were introduced (<1950)

After semiconductor devices were introduced (1960s)

• High performance applications dominated by DC motors – tractions,

After vector control drives were introduced (1980s)

Extracted from Boldea & Nasar

AC Source DC Source AC Source DC Source

AC-DC AC-DC-DC AC-DC-AC AC-AC DC-AC DC-DC-AC

Const. Variable NCC FCC

Configurations of Power Electronic Converters depend on:

Drive Performance - applications

Available AC source to control DC motor (brushed)

1-phase Average voltage

- Operation in quadrant 1 and 4 only

Cascade control structure with armature reversal (4-quadrant):

D2 conducts  va = 0 T1 conducts  va = Vdc

T2 conducts  va = 0 D1 conducts  va = Vdc

va = Vdc when Q1 and Q2 are ON

va = Vdc when Q1 and Q2 are ON

Positive current Negative current

va = Vdc when Q1 and Q2 are ON va = Vdc when D1 and D2 are ON

Positive current Negative current

va = Vdc when Q1 and Q2 are ON va = Vdc when D1 and D2 are ON

150 150 Armature

Vdc -100 -100

Bipolar switching scheme Unipolar switching scheme

• Current ripple in unipolar is smaller

The common PWM technique: CB-SPWM with ZSS

• Control the torque, speed or position

• Cascade control structure

Example of current control in cascade control structure

• High bandwidth, simple implementation,